def containsPt(self, point):
x = point[0]
y = point[1]
if x < self.minX or x > self.maxX:
return True
if y < self.minY or y > self.maxY:
return True
for obs in self.obstacles:
if obs.get_path().contains_point([x, y]):
return True
shapelyPt = Point(x, y)
for poly in self.buffedPoly:
if shapelyPt.within(poly):
return True
return False
def contains(self, nodePt):
x = nodePt.x
y = nodePt.y
if x < self.minX + self.buff or x > self.maxX - self.buff:
return True
if y < self.minY + self.buff or y > self.maxY - self.buff:
return True
# for obs in self.obstacles:
# if obs.get_path().contains_point([nodePt.x, nodePt.y]):
# return True
shapelyPt = Point(x, y)
for poly in self.buffedPoly:
if shapelyPt.within(poly):
return True
return False
def pose_inside_model(pose: Tuple[float, float, float],
model: PrimitiveModel) -> bool:
'''Returns True if the given position is in the polygon obtained
by projecting the given model onto the xy-plane and False otherwise.
Keyword arguments:
pose: Tuple[float, float, float] -- a 2D pose
model: PrimitiveModel -- a model of an object in the environment
'''
point = Point(pose[0], pose[1])
model_polygon = Polygon(((model.pose[0][0] - model.visual_size[0],
model.pose[0][1] - model.visual_size[1]),
(model.pose[0][0] - model.visual_size[0],
model.pose[0][1] + model.visual_size[1]),
(model.pose[0][0] + model.visual_size[0],
model.pose[0][1] + model.visual_size[1]),
(model.pose[0][0] + model.visual_size[0],
model.pose[0][1] - model.visual_size[1])))
return point.within(model_polygon)
opath = "%s/%s" % (args.outdir.rstrip('/'),args.lasfile.split('/')[-1])
# prepare statistics
points_read = 0
points_kept = 0
# open in- and output LAS-file
f = lasfile.File(fpath,mode='r')
o = lasfile.File(opath, header=f.header, mode='w')
# extract points
#print "processing %s ..." % args.lasfile
for point in f:
points_read += 1
p = Point(point.x, point.y)
if p.within(wkt_poly) or p.intersects(wkt_poly):
points_kept += 1
o.write(point)
# give feedback and remove empty output file
o.close()
f.close()
if points_kept == 0:
print " no points found within WKT-poly"
os.remove(opath)
else:
print " created %s (kept %s of %s points)" % (opath,points_kept,points_read)
# log times
time_end = time.time()
csv.write('%s;%s;%s;%s;%s;%s;%s\n' % (
