def filter_points(points, shape):
fun = lambda point: shape.contains(geo.Point(point))
return list(filter(fun, points))
def polygon(self):
return geometry.Point(0.0, 0.0).buffer(self.d / 2.0)
def findClosest(point, gridX, gridY):
closeX = np.argmin(abs(point.x - gridX))
closeY = np.argmin(abs(point.y - gridY))
return geometry.Point(gridX[closeX], gridY[closeY])
def test_emptying_point(self):
p = sgeom.Point(0, 0)
self.assertFalse(p._is_empty)
p.empty()
self.assertTrue(p._is_empty)
to_date = date.today() + timedelta(days=1)
DATE_TO = to_date.strftime("%Y-%m-%d")
# Look back 1 day to make sure we have everything
from_date = from_date - timedelta(days=1)
DATE_FROM = from_date.strftime("%Y-%m-%d")
results_object, code = get_file_list(DATE_FROM, DATE_TO)
if results_object is None:
exit(code)
file_count = len(results_object['products'])
logging.info("Downloading %d files", file_count)
volcanos = numpy.asarray(config.VOLCANOS)
volc_points = [geometry.Point(x['longitude'], x['latitude']) for x in volcanos]
# setup import params
for idx, product in enumerate(results_object['products']):
uuid = product['uuid']
footprint = wkt.loads(product['wkt'])
covered_volcs = [footprint.contains(x) for x in volc_points]
covered_volcs = [x['name'] for x in volcanos[covered_volcs]]
identifier = product['identifier']
id_parts = [x for x in identifier.split('_') if x]
filetime = parse(id_parts[4] + "z")
filedate = filetime.strftime('%Y-%m-%d')
file_dir = os.path.join(config.FILE_BASE, DEST_DIR, filedate)
volc_dir = os.path.join(config.FILE_BASE, DEST_DIR)
def packCurves():
if speedups.available:
speedups.enable()
t=time.time()
packsettings=bpy.context.scene.cam_pack
sheetsizex=packsettings.sheet_x
sheetsizey=packsettings.sheet_y
direction=packsettings.sheet_fill_direction
distance=packsettings.distance
rotate = packsettings.rotate
polyfield=[]#in this, position, rotation, and actual poly will be stored.
for ob in bpy.context.selected_objects:
allchunks=[]
simple.activate(ob)
bpy.ops.object.make_single_user(type='SELECTED_OBJECTS')
bpy.ops.object.origin_set(type='ORIGIN_GEOMETRY')
z=ob.location.z
bpy.ops.object.location_clear()
bpy.ops.object.rotation_clear()
chunks=utils.curveToChunks(ob)
npolys=utils.chunksToShapely(chunks)
#add all polys in silh to one poly
poly=shapely.ops.unary_union(npolys)
poly=poly.buffer(distance/1.5,8)
poly=poly.simplify(0.0003)
polyfield.append([[0,0],0.0,poly,ob,z])
random.shuffle(polyfield)
#primitive layout here:
allpoly=sgeometry.Polygon()#main collision poly.
shift=0.0015#one milimeter by now.
rotchange=.3123456#in radians
xmin,ymin,xmax,ymax=polyfield[0][2].bounds
if direction=='X':
mindist=-xmin
else:
mindist=-ymin
i=0
p=polyfield[0][2]
placedpolys=[]
rotcenter=sgeometry.Point(0,0)
for pf in polyfield:
print(i)
rot=0
porig=pf[2]
placed=False
xmin,ymin,xmax,ymax=p.bounds
#p.shift(-xmin,-ymin)
if direction=='X':
x=mindist
y=-ymin
if direction=='Y':
x=-xmin
y=mindist
iter=0
best=None
hits=0
besthit=None
while not placed:
#swap x and y, and add to x
#print(x,y)
p=porig
if rotate:
#ptrans=srotate(p,rot,0,0)
ptrans=affinity.rotate(p,rot,origin = rotcenter, use_radians=True)
#ptrans = translate(ptrans,x,y)
ptrans = affinity.translate(ptrans,x,y)
else:
#ptrans = translate(p,x,y)
ptrans = affinity.translate(p,x,y)
xmin,ymin,xmax,ymax=ptrans.bounds
#print(iter,p.bounds)
if xmin>0 and ymin>0 and ((direction=='Y' and xmax<sheetsizex) or (direction=='X' and ymax<sheetsizey)):
if allpoly.disjoint(ptrans):
#print('gothit')
#we do more good solutions, choose best out of them:
hits+=1
if best==None:
best=[x,y,rot,xmax,ymax]
besthit=hits
if direction=='X':
if xmax<best[3]:
best=[x,y,rot,xmax,ymax]
besthit=hits
elif ymax<best[4]:
best=[x,y,rot,xmax,ymax]
besthit=hits
if hits>=15 or (iter>10000 and hits>0):#here was originally more, but 90% of best solutions are still 1
placed=True
pf[3].location.x=best[0]
pf[3].location.y=best[1]
pf[3].location.z=pf[4]
pf[3].rotation_euler.z=best[2]
pf[3].select=True
#print(mindist)
mindist=mindist-0.5*(xmax-xmin)
#print(mindist)
#print(iter)
#reset polygon to best position here:
ptrans=affinity.rotate(porig,best[2],rotcenter, use_radians = True)
#ptrans=srotate(porig,best[2],0,0)
ptrans = affinity.translate(ptrans,best[0],best[1])
#ptrans = translate(ptrans,best[0],best[1])
#polygon_utils_cam.polyToMesh(p,0.1)#debug visualisation
keep=[]
print(best[0],best[1])
#print(len(ptrans.exterior))
#npoly=allpoly.union(ptrans)
'''
for ci in range(0,len(allpoly)):
cminx,cmaxx,cminy,cmaxy=allpoly.boundingBox(ci)
if direction=='X' and cmaxx>mindist-.1:
npoly.addContour(allpoly[ci])
if direction=='Y' and cmaxy>mindist-.1:
npoly.addContour(allpoly[ci])
'''
#allpoly=npoly
placedpolys.append(ptrans)
allpoly=prepared.prep(sgeometry.MultiPolygon(placedpolys))
#polygon_utils_cam.polyToMesh(allpoly,0.1)#debug visualisation
#for c in p:
# allpoly.addContour(c)
#cleanup allpoly
print(iter,hits,besthit)
if not placed:
if direction=='Y':
x+=shift
mindist=y
if (xmax+shift>sheetsizex):
x=x-xmin
y+=shift
if direction=='X':
y+=shift
mindist=x
if (ymax+shift>sheetsizey):
y=y-ymin
x+=shift
if rotate: rot+=rotchange
iter+=1
i+=1
t=time.time()-t
polygon_utils_cam.shapelyToCurve('test',sgeometry.MultiPolygon(placedpolys),0)
print(t)
def _add_asset(self, idx, asset_node, param):
values = {}
deductibles = {}
insurance_limits = {}
retrofitted = None
asset_id = asset_node['id'].encode('utf8')
with context(param['fname'], asset_node):
self.asset_refs.append(asset_id)
taxonomy = asset_node['taxonomy']
if 'damage' in param['calculation_mode']:
# calculators of 'damage' kind require the 'number'
# if it is missing a KeyError is raised
number = asset_node['number']
else:
# some calculators ignore the 'number' attribute;
# if it is missing it is considered 1, since we are going
# to multiply by it
try:
number = asset_node['number']
except KeyError:
number = 1
else:
if 'occupants' in self.cost_types['name']:
values['occupants_None'] = number
location = asset_node.location['lon'], asset_node.location['lat']
if param['region'] and not geometry.Point(*location).within(
param['region']):
param['out_of_region'] += 1
return
tagnode = getattr(asset_node, 'tags', None)
dic = {} if tagnode is None else tagnode.attrib.copy()
with context(param['fname'], tagnode):
dic['taxonomy'] = taxonomy
idxs = self.tagcol.add_tags(dic)
try:
costs = asset_node.costs
except AttributeError:
costs = Node('costs', [])
try:
occupancies = asset_node.occupancies
except AttributeError:
occupancies = Node('occupancies', [])
for cost in costs:
with context(param['fname'], cost):
cost_type = cost['type']
if cost_type == 'structural':
# retrofitted is defined only for structural
retrofitted = cost.get('retrofitted')
if cost_type in param['relevant_cost_types']:
values[cost_type] = cost['value']
try:
deductibles[cost_type] = cost['deductible']
except KeyError:
pass
try:
insurance_limits[cost_type] = cost['insuranceLimit']
except KeyError:
pass
# check we are not missing a cost type
missing = param['relevant_cost_types'] - set(values)
if missing and missing <= param['ignore_missing_costs']:
logging.warn('Ignoring asset %s, missing cost type(s): %s',
asset_id, ', '.join(missing))
for cost_type in missing:
values[cost_type] = None
elif missing and 'damage' not in param['calculation_mode']:
# missing the costs is okay for damage calculators
with context(param['fname'], asset_node):
raise ValueError("Invalid Exposure. "
"Missing cost %s for asset %s" %
(missing, asset_id))
tot_occupants = 0
for occupancy in occupancies:
with context(param['fname'], occupancy):
occupants = 'occupants_%s' % occupancy['period']
values[occupants] = float(occupancy['occupants'])
tot_occupants += values[occupants]
if occupancies: # store average occupants
values['occupants_None'] = tot_occupants / len(occupancies)
area = float(asset_node.get('area', 1))
ass = Asset(idx, idxs, number, location, values, area, deductibles,
insurance_limits, retrofitted, self.cost_calculator)
self.assets.append(ass)
def talker():
global u, VITESSE
cmd_publisher = rospy.Publisher('cmd_drive', cmd_drive, queue_size=10)
data_pub = rospy.Publisher('floats', numpy_msg(Floats), queue_size=10)
rospy.Subscriber("/IMU_F", Imu, ImuCallback_F)
#rospy.Subscriber("/IMU_R", Imu, ImuCallback_R)
#rospy.Subscriber("/odom", Odometry, OdomCallback)
rospy.Subscriber("/GPS/fix", NavSatFix, retour_gps)
rospy.init_node('SSA', anonymous=True)
r = rospy.Rate(100) # 100hz
simul_time = rospy.get_param('~simulation_time', '10')
# Trajectoire de reference
ref = np.loadtxt(
'/home/summit/Spidoo_ws/src/LMPC/spido_lmpc/scripts/matS.txt')
ref[:, 1] = ref[:, 1] - ref[0, 1]
ref[:, 2] = ref[:, 2] - ref[0, 2]
dpsi = Psi - ref[0, 3]
ref[:, 3] = ref[:, 3] + dpsi
RR = np.array([[cos(dpsi), -sin(dpsi), X], [sin(dpsi),
cos(dpsi), Y], [0, 0, 1]])
FF = np.array([
np.transpose(ref[:, 1]),
np.transpose(ref[:, 2]),
np.ones((1, len(ref)))
])
A = RR.dot(FF)
ref[:, 1:2] = np.transpose(A[0])
ref[:, 2:3] = np.transpose(A[1])
line = geom.LineString(ref[:, 1:3])
vitesse = VITESSE
Epsi = np.array([[0], [0]])
Xm = np.array([[0], [0]])
Psiref_old = Psi
theta_tilde_old = 0
ey_old = 0
DeltaR = 0
DeltaF = 0
betaF = 0
betaR = 0
y_obs = 0
theta_tilde_obs = 0
t0 = rospy.get_time()
cmd = cmd_drive()
cmd.linear_speed = vitesse
while ((rospy.get_time() - t0 <= simul_time)):
#subprocess.check_call("rosservice call /gazebo/pause_physics", shell=True)
point = geom.Point(X, Y)
nearest_pt = line.interpolate(line.project(point))
distance, index = spatial.KDTree(ref[:, 1:3]).query(nearest_pt)
xref = ref[index, 1]
yref = ref[index, 2]
Psiref = ref[index, 3]
c = ref[index, 7]
vyref = 0
### Calculate DCapR
DCapR = (Psiref - Psiref_old) / Tsamp
Psiref_old = Psiref
### theta_tilde_dot
ey = -sin(Psiref) * (X - xref) + cos(Psiref) * (Y - yref
) ## Lateral error
ey_dot = (ey - ey_old) / Tsamp
ey_old = ey
theta_tilde = (Psi - Psiref) ## angular error
theta_tilde_dot = (theta_tilde - theta_tilde_old) / Tsamp
theta_tilde_old = theta_tilde
### Side-slip angles Observer
# betaF=0
# betaR=0
#betaF,betaR,Epsi=LinearObsvBFBr(ey,theta_tilde,DeltaF,DeltaR,vitesse,c,Epsi,DCapR,theta_tilde_dot) # Linear Observer
### No Linear Observer
# betaF,betaR,Epsi=NLObserverBFBr(ey,theta_tilde,DeltaF,DeltaR,vitesse,c,Epsi,DCapR,theta_tilde_dot) # NL Linear Observer
### For Roland 2017
# fF=KinmaticModel(betaF,betaR,ey,theta_tilde,vitesse,DeltaF,c)
# y_obs,theta_tilde_obs,Xm,fFB00,B=LinearKinmaticModel(y_obs,theta_tilde_obs,Xm,vitesse,DeltaF,c,betaF,betaR)
# betaF,betaR=LenainObsvBFBr(ey,theta_tilde,y_obs,theta_tilde_obs,DeltaF,DeltaR,vitesse,c,theta_tilde_dot,ey_dot,fFB00,fF,B)
#### Linear Model EMAD MAHROUS NLObserver_Linear_BFBr
betaF, betaR, Epsi = NLObserver_Linear_BFBr(ey, theta_tilde, DeltaF,
DeltaR, vitesse, c, Epsi,
DCapR, theta_tilde_dot)
##
# print('y_obs=',y_obs)
# print('y=',ey)
#
if (betaF < -0.087266463):
betaF = -0.087266463
if (betaR < -0.087266463):
betaR = -0.087266463
if (betaR > 0.087266463):
betaR = 0.087266463
if (betaF > 0.087266463):
betaF = 0.087266463
aa = betaF * (180 / pi)
bb = betaR * (180 / pi)
# y_obs,theta_tilde_obs,Xm=KinmaticModel(betaF,betaR,ey,-theta_tilde,Xm,vitesse,DeltaF,c)
# betaF,betaR=LenainObsvBFBr(ey,-theta_tilde,y_obs,theta_tilde_obs,DeltaF,DeltaR,vitesse,c,theta_tilde_dot,ey_dot)
#
# print('y_obs=\n',y_obs)
# print('y=\n',ey)
print('betaF=', aa)
print('betaR=', bb)
### Adaptative controller
u = deltaFunction(ey, theta_tilde, c, betaF, betaR)
if abs(u) > 20 * (pi / 180):
u = 20 * (pi / 180) * sign(u)
DeltaF = u
cmd.steering_angle_front = u #[0,0]
cmd.steering_angle_rear = DeltaR #u[1,0]
cmd_publisher.publish(cmd)
posture = np.array([
X, Y, Psi, ey, theta_tilde, Psip, u, xref, yref, Psiref, betaF,
betaR
],
dtype=np.float32)
data_pub.publish(posture)
#subprocess.check_call("rosservice call /gazebo/unpause_physics", shell=True)
#unpause = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
r.sleep()
cmd.steering_angle_front = 0 #u[0,0]
cmd.steering_angle_rear = 0 #u[0,0]
cmd.linear_speed = 0
cmd_publisher.publish(cmd)
def region(self, lat, lon):
"""
Return a region code matching the provided position.
If the position is not found inside any region return None.
"""
# Look up point in RTree of buffered region envelopes.
# This is a coarse-grained but very fast match.
point = geometry.Point(lon, lat)
codes = set([
self._tree_ids[id_]
for id_ in self._tree.intersection(point.bounds)
])
if not codes:
return None
# match point against the buffered polygon shapes
buffered_codes = set([
code for code in codes
if self._buffered_shapes[code].contains(point)
])
if len(buffered_codes) < 2:
return tuple(buffered_codes)[0] if buffered_codes else None
# match point against the precise polygon shapes
precise_codes = set([
code for code in buffered_codes
if self._prepared_shapes[code].contains(point)
])
if len(precise_codes) == 1:
return tuple(precise_codes)[0]
# Use distance from the border of each region as the tie-breaker.
distances = {}
# point wasn't in any precise region, which one of the buffered
# regions is it closest to?
if not precise_codes:
for code in buffered_codes:
coords = []
if isinstance(self._shapes[code].boundary,
geometry.base.BaseMultipartGeometry):
for geom in self._shapes[code].boundary.geoms:
coords.extend([coord for coord in geom.coords])
else:
coords = self._shapes[code].boundary.coords
for coord in coords:
distances[geocalc.distance(coord[1], coord[0], lat,
lon)] = code
return distances[min(distances.keys())]
# point was in multiple overlapping regions, take the one where it
# is farthest away from the border / the most inside a region
for code in precise_codes:
coords = []
if isinstance(self._shapes[code].boundary,
geometry.base.BaseMultipartGeometry):
for geom in self._shapes[code].boundary.geoms:
coords.extend([coord for coord in geom.coords])
else:
coords = self._shapes[code].boundary.coords
for coord in coords:
distances[geocalc.distance(coord[1], coord[0], lat,
lon)] = code
return distances[max(distances.keys())]
def process(context, arguments):
df_trips, df_primary, random_seed = arguments
# Set up RNG
random = np.random.RandomState(context.config("random_seed"))
maximum_iterations = context.config("secloc_maximum_iterations")
# Set up discretization solver
destinations = context.data("destinations")
candidate_index = CandidateIndex(destinations)
discretization_solver = CustomDiscretizationSolver(candidate_index)
# Set up distance sampler
distance_distributions = context.data("distance_distributions")
distance_sampler = CustomDistanceSampler(
maximum_iterations=min(1000, maximum_iterations),
random=random,
distributions=distance_distributions)
# Set up relaxation solver; currently, we do not consider tail problems.
chain_solver = GravityChainSolver(random=random,
eps=10.0,
lateral_deviation=10.0,
alpha=0.1,
maximum_iterations=min(
1000, maximum_iterations))
tail_solver = AngularTailSolver(random=random)
free_solver = CustomFreeChainSolver(random, candidate_index)
relaxation_solver = GeneralRelaxationSolver(chain_solver, tail_solver,
free_solver)
# Set up assignment solver
thresholds = dict(car=200.0,
car_passenger=200.0,
pt=200.0,
bike=100.0,
walk=100.0)
assignment_objective = DiscretizationErrorObjective(thresholds=thresholds)
assignment_solver = AssignmentSolver(
distance_sampler=distance_sampler,
relaxation_solver=relaxation_solver,
discretization_solver=discretization_solver,
objective=assignment_objective,
maximum_iterations=min(20, maximum_iterations))
df_locations = []
df_convergence = []
last_person_id = None
for problem in find_assignment_problems(df_trips, df_primary):
result = assignment_solver.solve(problem)
starting_activity_index = problem["activity_index"]
for index, (identifier, location) in enumerate(
zip(result["discretization"]["identifiers"],
result["discretization"]["locations"])):
df_locations.append(
(problem["person_id"], starting_activity_index + index,
identifier, geo.Point(location)))
df_convergence.append((result["valid"], problem["size"]))
if problem["person_id"] != last_person_id:
last_person_id = problem["person_id"]
context.progress.update()
df_locations = pd.DataFrame.from_records(
df_locations,
columns=["person_id", "activity_index", "location_id", "geometry"])
df_locations = gpd.GeoDataFrame(df_locations, crs="EPSG:2154")
assert not df_locations["geometry"].isna().any()
df_convergence = pd.DataFrame.from_records(df_convergence,
columns=["valid", "size"])
return df_locations, df_convergence
def add_area_land_sfc(self, maxheight, ls=None, silent=False):
"""
land use inside an area around the trajectory
add the shape to ``self.shapes['shp_below{:.1f}km']``
and the statistics to ``self.stat_ls['occ_shp_below{:.1f}km']``
sizes of circle (in 24h steps):
.. code-block:: python
[ 0.05 , 0.15 , 0.4 , 0.77666667, 1.25666667,
1.81666667, 2.43333333, 3.08333333, 3.74333333, 4.39 , 5.]
Args:
maxheight: maximum height in meters or md for MIXDEPTH
ls (:class:`trace_source.land_sfc.land_sfc`, optional): pre loaded land surface information
(separate loading consumes lot of time)
silent (bool, optional): verbose output or not
.. deprecated:: 0.1
use the ensemble trajectories instead
"""
import shapely.geometry as sgeom
from shapely.ops import cascaded_union
if maxheight == 'md':
maxheight = self.data[1]['MIXDEPTH']
maxheightstr = 'md'
else:
maxheightstr = '{:.1f}'.format(maxheight / 1000.)
lat = self.data[1]['latitude'][self.data[1]['height'] < maxheight]
lon = self.data[1]['longitude'][self.data[1]['height'] < maxheight]
age = self.data[1]['age'][self.data[1]['height'] < maxheight]
if lat.shape[0] > 0:
r = np.abs(age)**2 * (5. / 240**2)
p = np.poly1d([
-2.81314300e-07, 1.50462963e-04, 7.17592593e-04, 5.00000000e-02
])
r = p(abs(age))
r[r < 0.05] = 0.05
#track = sgeom.LineString(zip(lon, lat))
#track = track.buffer(0.1)
shape = []
for coord in zip(lat, lon, r):
shape.append(sgeom.Point(coord[1], coord[0]).buffer(coord[2]))
#shape.append(track)
shape = cascaded_union(shape)
# check if shape is a Polygon; if yes convert it to Multipolygon
if shape.geom_type == 'Polygon':
shape = sgeom.MultiPolygon([shape])
if ls is None:
ls = trace_source.land_sfc.land_sfc()
occ_stat = namedtuple('occ_stat', 'no_below counter')
cat = ls.get_land_sfc_shape(shape).compressed()
no = float(cat.shape[0]) if cat.shape[0] > 0 else -1
c = {
x: cat.tolist().count(x) / float(no)
for x in list(ls.categories.keys())
}
key = 'shp_below{}km'.format(maxheightstr)
self.shapes[key] = shape
key = 'occ_shp_below{}km'.format(maxheightstr)
self.stat_ls[key] = occ_stat(no_below=no, counter=c)
return shape
else:
#print('! nothin below ', maxheight)
print('! nothin below ')
def iter_oriented_line_pt_idx(to_orient: String_or_Ring,
path: String_or_Ring,
buffer: Optional[float] = None) -> Iterator[int]:
"""Yields a subset of the point indexes of a line based upon the orientation of the path. Note: if no
buffer is provided the line points must be on the path.
Point indexes are iterated based upon the order in which they are captured by the path. A point index is
captured and yielded if its associated point:
1. Is within the buffer distance of the current path segment (default buffer is zero)
2. Has not been captured by a previous segment (the first capturing path segment lays claim to each line point)
3. If a segment captures multiple points: is the next closest point to the *first* path segment point
In the case of a ring-like line, if the repeated ring end point is captured then at least one of the immediate
neighboring points must also be captured (error otherwise).
Note that if a line orientation turns out to be ambiguous- e.g. the case where a path captures only index 0 and
index 2 of a 4-point line- the line orientation is assumed to be the originally supplied orientation.
"""
if buffer is None:
buffer = 0
else:
buffer = float(buffer)
if isinstance(to_orient, (geo.LineString, geo.LinearRing)):
if not to_orient.is_simple:
raise GeometryError(
"simple linear objects are required for orientation")
else:
raise GeometryError("a line like geometry object is required")
# the path will decide the resulting line index order
coords_to_orient = list(to_orient.coords)
points_to_orient = geo.MultiPoint(coords_to_orient)
path_segments = geo.MultiLineString(list(iter_segments(path)))
if len(path_segments) == 0:
raise GeometryError("failed to break path into segments")
# sorting dictionaries
lpdx_to_sdx_dict: DefaultDict[int, Set[int]] = DefaultDict(set)
lpdx_to_min_dist_dict: Dict[int, float] = dict()
sdx_to_lpdx_dict: Dict[int, List[int]] = DefaultDict(list)
if to_orient.is_closed:
# handle ring-like line
repeated_point = points_to_orient[0]
# get the capturing segment
min_distance_to_repeated_point = min(
repeated_point.distance(seg) for seg in path_segments)
# if the repeated ring end point is NOT captured, ignore; otherwise this needs handling
if min_distance_to_repeated_point <= buffer:
# repeated point is captured - needs handling
p_second, p_second_to_last = points_to_orient[1], points_to_orient[
-2]
# get min distances for second and second-to-last points (are separate points since the line is simple)
d_second = min(p_second.distance(seg) for seg in path_segments)
d_second_to_last = min(
p_second_to_last.distance(seg) for seg in path_segments)
# at least one of the two neighboring points to the repeated ring end point must be captured
captured_dict = {
1: d_second <= buffer,
-2: d_second_to_last <= buffer
}
if True in captured_dict.values():
if captured_dict[1] and captured_dict[-2]:
# both neighbors captured; discard both ring end points (they aren't needed)
points_to_orient = geo.MultiPoint(points_to_orient[1:-1])
elif captured_dict[1]:
# only pdx==1 captured, discard last line point
points_to_orient = geo.MultiPoint(points_to_orient[:-1])
elif captured_dict[-2]:
# only pdx==-2 captured, discard first line point
points_to_orient = geo.MultiPoint(points_to_orient[1:])
else:
raise GeometryError(
"invalid path given to orient the ring-like line; path must capture a neighbor "
"of the repeated ring end points")
# for adjusting final index results later
try:
lpdx_adjustment: int = {True: 1, False: 0}[captured_dict[-2]]
except NameError:
lpdx_adjustment = 0
# point capture algorithm
lpdx: int
lp: geo.Point
for (lpdx, lp) in enumerate(points_to_orient):
seg: geo.LineString
# match line point indexes with path segment indexes
for sdx, seg in enumerate(path_segments):
d: float = lp.distance(seg)
# associate each line point index with path segment indexes within the buffer
if d <= lpdx_to_min_dist_dict.get(lpdx, buffer):
if d < lpdx_to_min_dist_dict.get(lpdx, buffer):
# keep only the closest path segment
lpdx_to_sdx_dict[lpdx].clear()
lpdx_to_min_dist_dict[lpdx] = d
lpdx_to_sdx_dict[lpdx].add(sdx)
# point may fall on multiple segments
try:
# the Jacqueline Rule: the first segment in the series captures the point
closest_sdx = min(lpdx_to_sdx_dict[lpdx])
except ValueError:
# un-captured lp (lp not within buffer for any segments)
pass
else:
# captured lp
sdx_to_lpdx_dict[closest_sdx].append(lpdx)
del lpdx, lp
sdx_to_lpdx_sorted = dict(sorted(sdx_to_lpdx_dict.items()))
# now have a 1 to 1 relationship for segments and points (but may be multiple points per segment)
lpdx_bag: List[int]
if all(len(lpdx_bag) == 1 for lpdx_bag in sdx_to_lpdx_sorted.values()):
# ALL 1 to 1
yield from (lpdx for (lpdx, ) in sdx_to_lpdx_sorted.values())
else:
# some not 1 to 1
sdx: int
for sdx, lpdx_bag in sdx_to_lpdx_sorted.items():
if len(lpdx_bag) == 1:
# 1 to 1
yield lpdx_bag[0] + lpdx_adjustment
else:
# not 1 to 1; iterate based on distance to first segment point
dist_lpdx_sub_list: List[Tuple[float, int]] = []
seg_point = geo.Point(path_segments[sdx].coords[0])
lpdx: int
for lpdx in lpdx_bag:
d = seg_point.distance(points_to_orient[lpdx])
dist_lpdx_sub_list.append((d, lpdx))
dist_lpdx_sub_list_sorted = sorted(dist_lpdx_sub_list)
yield from (lpdx + lpdx_adjustment
for _, lpdx in dist_lpdx_sub_list_sorted)
def sampled_area_fraction(leg_distances,
turn_angles,
x0=0.0,
y0=0.0,
radius_of_turn=6.0,
satellite_footprint_radius=7.5,
sensor_footprint_radius=1.0,
true_airspeed=140.0,
plot_figure=True):
# Add footprint
footprint = spg.Point(0, 0)
footprint = footprint.buffer(satellite_footprint_radius)
if plot_figure:
from matplotlib.patches import Arc
plt.figure()
ax = plt.axes()
plt.plot(*footprint.exterior.xy, color="red", linestyle="--")
pointing_angle = 0.0
pos = (x0, y0)
tracks = []
for i_leg in range(len(leg_distances)):
# Straight line segment
new_pos = end_point(pos, pointing_angle, leg_distances[i_leg])
if plot_figure:
plt.plot([pos[0], new_pos[0]], [pos[1], new_pos[1]], color="black")
line = spg.LineString([pos, new_pos])
tracks.append(line)
pos = new_pos
if i_leg == (len(leg_distances) - 1):
break
# Turn
centre, endpoint = arc_centre_endpoint(pos, pointing_angle,
radius_of_turn,
turn_angles[i_leg])
if plot_figure:
if turn_angles[i_leg] < 0:
t1 = 360.0 - pointing_angle
t2 = t1 + np.abs(turn_angles[i_leg])
print(pointing_angle, t1, t2)
else:
t1 = 180 - (turn_angles[i_leg]) - pointing_angle
t2 = t1 + (turn_angles[i_leg])
a = Arc(centre,
2 * radius_of_turn,
2 * radius_of_turn,
angle=0.0,
theta1=t1,
theta2=t2)
ax.add_artist(a)
pointing_angle += turn_angles[i_leg]
pos = endpoint
distance_in_footprint = 0.0
sampled_areas = []
for l in tracks:
distance_in_footprint += l.intersection(footprint).length
lbuff = l.buffer(sensor_footprint_radius)
if plot_figure:
plt.plot(*lbuff.exterior.xy, color="blue", linestyle="--")
sampled_areas.append(lbuff.intersection(footprint))
sampled_area = sops.unary_union(sampled_areas)
saf = sampled_area.area / footprint.area
if plot_figure:
if isinstance(sampled_area, spg.MultiPolygon):
for poly in sampled_area:
plt.plot(*poly.exterior.xy, color="green")
else:
plt.plot(*sampled_area.exterior.xy, color="green")
# Set limits
plt.xlim(-40, 40)
plt.ylim(-40, 40)
ax.set_aspect("equal", "box")
tdist = total_distance(leg_distances, turn_angles, radius_of_turn)
total_time = tdist * 1000.0 / true_airspeed / 60.0
if plot_figure:
print(
f"sampled distance (km): {distance_in_footprint:.2f}, total time (min): {total_time:.1f}, "
f"sampled area (km^2): {sampled_area.area}, sampled area fraction: {saf}"
)
return saf
def feature():
unit_circle = sgeom.Point(0, 0).buffer(0.5)
unit_square = unit_circle.envelope
geoms = [unit_circle, unit_square]
feature = ShapelyFeature(geoms, ccrs.PlateCarree())
return feature
x0_int, y0_int = (r0s_int(phis_int_list) * np.cos(phis_int_list),
r0s_int(phis_int_list) * np.sin(phis_int_list))
gridnum = 100
xm = np.linspace(-scanL / 2, scanL / 2, gridnum)
ym = np.linspace(-scanL / 2, scanL / 2, gridnum)
domain_wall = geom.LineString(np.transpose([x0_int, y0_int]))
grid_dist = np.zeros((gridnum, gridnum))
dist = 0
t1 = time.time()
for j in range(gridnum):
for i in range(gridnum):
point = geom.Point(xm[i], ym[j])
point_on_dw = domain_wall.interpolate(domain_wall.project(point))
dist = domain_wall.distance(point)
if (point.x**2 + point.y**2 < point_on_dw.x**2 + point_on_dw.y**2):
dist = -dist
grid_dist[j, i] = dist
t2 = time.time()
print(t2 - t1)
# BLOCH
dw = 30.0e-9
mz = np.tanh(grid_dist / dw)
#---------------- PLOTS ------------------------------------------
def test_almost_equals_default(self):
p1 = geometry.Point(1.0, 1.0)
p2 = geometry.Point(1.0 + 1e-7, 1.0 + 1e-7) # almost equal to 6 places
p3 = geometry.Point(1.0 + 1e-6, 1.0 + 1e-6) # not almost equal
self.assertTrue(p1.almost_equals(p2))
self.assertFalse(p1.almost_equals(p3))
def has_coord(self, lon, lat):
return self.has_point(geometry.Point(lon, lat))
def test_almost_equals(self):
p1 = geometry.Point(1.0, 1.0)
p2 = geometry.Point(1.1, 1.1)
self.assertFalse(p1.equals(p2))
self.assertTrue(p1.almost_equals(p2, 0))
self.assertFalse(p1.almost_equals(p2, 1))
def is_land(x, y):
return land.contains(sgeom.Point(x, y))
def test_equals_exact(self):
p1 = geometry.Point(1.0, 1.0)
p2 = geometry.Point(2.0, 2.0)
self.assertFalse(p1.equals(p2))
self.assertFalse(p1.equals_exact(p2, 0.001))
def roiPlot(inifile, CurrentVideo):
config = ConfigParser()
config.read(inifile)
## get dataframe column name
bplist = getBpHeaders(inifile)
try:
noAnimals = config.getint('ROI settings', 'no_of_animals')
except NoOptionError:
noAnimals = config.getint('General settings', 'animal_no')
projectPath = config.get('General settings', 'project_path')
try:
wfileType = config.get('General settings', 'workflow_file_type')
except NoOptionError:
wfileType = 'csv'
animalBodypartList = []
for bp in range(noAnimals):
animalName = 'animal_' + str(bp + 1) + '_bp'
animalBpName = config.get('ROI settings', animalName)
animalBpNameX, animalBpNameY = animalBpName + '_x', animalBpName + '_y'
animalBodypartList.append([animalBpNameX, animalBpNameY])
columns2grab = [item[0:2] for item in animalBodypartList]
columns2grab = [item for sublist in columns2grab for item in sublist]
try:
multiAnimalIDList = config.get('Multi animal IDs', 'id_list')
multiAnimalIDList = multiAnimalIDList.split(",")
if multiAnimalIDList[0] != '':
multiAnimalStatus = True
print('Applying settings for multi-animal tracking...')
else:
multiAnimalStatus = False
for animal in range(noAnimals):
multiAnimalIDList.append('Animal_' + str(animal+1) + '_')
print('Applying settings for classical tracking...')
except NoSectionError:
multiAnimalIDList = []
for animal in range(noAnimals):
multiAnimalIDList.append('Animal_' + str(animal + 1) + '_')
multiAnimalStatus = False
print('Applying settings for classical tracking...')
logFolderPath = os.path.join(projectPath, 'logs')
vidInfPath = os.path.join(logFolderPath, 'video_info.csv')
vidinfDf = pd.read_csv(vidInfPath)
csv_dir_in = os.path.join(projectPath, 'csv', 'outlier_corrected_movement_location')
frames_dir_out = os.path.join(projectPath, 'frames', 'output', 'ROI_analysis')
if not os.path.exists(frames_dir_out):
os.makedirs(frames_dir_out)
ROIcoordinatesPath = os.path.join(logFolderPath, 'measures', 'ROI_definitions.h5')
try:
rectanglesInfo = pd.read_hdf(ROIcoordinatesPath, key='rectangles')
except FileNotFoundError:
print('No ROIs found: please define ROIs using the left-most menu in teh SIMBA ROI tab.')
circleInfo = pd.read_hdf(ROIcoordinatesPath, key='circleDf')
polygonInfo = pd.read_hdf(ROIcoordinatesPath, key='polygons')
CurrentVideoPath = os.path.join(projectPath, 'videos', CurrentVideo)
cap = cv2.VideoCapture(CurrentVideoPath)
CurrentVideoName, videoFileType = os.path.splitext(CurrentVideo)[0], os.path.splitext(CurrentVideo)[1]
fps = cap.get(cv2.CAP_PROP_FPS)
width, height, frames = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)), int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
mySpaceScale, myRadius, myResolution, myFontScale = 25, 10, 1500, 0.8
maxResDimension = max(width, height)
DrawScale = int(myRadius / (myResolution / maxResDimension))
textScale = float(myFontScale / (myResolution / maxResDimension))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
videoSettings = vidinfDf.loc[vidinfDf['Video'] == str(CurrentVideoName)]
currFps = int(videoSettings['fps'])
noRectangles = len(rectanglesInfo.loc[rectanglesInfo['Video'] == str(CurrentVideoName)])
noCircles = len(circleInfo.loc[circleInfo['Video'] == str(CurrentVideoName)])
noPolygons = len(polygonInfo.loc[polygonInfo['Video'] == str(CurrentVideoName)])
rectangleTimes, rectangleEntries = ([[0] * len(animalBodypartList) for i in range(noRectangles)] , [[0] * len(animalBodypartList) for i in range(noRectangles)])
circleTimes, circleEntries = ([[0] * len(animalBodypartList) for i in range(noCircles)], [[0] * len(animalBodypartList) for i in range(noCircles)])
polygonTime, polyGonEntries = ([[0] * len(animalBodypartList) for i in range(noPolygons)], [[0] * len(animalBodypartList) for i in range(noPolygons)])
currFrameFolderOut = os.path.join(frames_dir_out, CurrentVideoName + '.avi')
Rectangles = (rectanglesInfo.loc[rectanglesInfo['Video'] == str(CurrentVideoName)])
Circles = (circleInfo.loc[circleInfo['Video'] == str(CurrentVideoName)])
Polygons = (polygonInfo.loc[polygonInfo['Video'] == str(CurrentVideoName)])
rectangleEntryCheck = [[True] * len(animalBodypartList) for i in range(noRectangles)]
circleEntryCheck = [[True] * len(animalBodypartList) for i in range(noCircles)]
polygonEntryCheck = [[True] * len(animalBodypartList) for i in range(noPolygons)]
currDfPath = os.path.join(csv_dir_in, CurrentVideoName + '.' + wfileType)
currDf = read_df(currDfPath, wfileType)
try:
currDf = currDf.set_index('scorer')
except KeyError:
pass
currDf = currDf.loc[:, ~currDf.columns.str.contains('^Unnamed')]
currDf.columns = bplist
currDf = currDf[columns2grab]
writer = cv2.VideoWriter(currFrameFolderOut, fourcc, fps, (width*2, height))
RectangleColors = [(255, 191, 0), (255, 248, 240), (255,144,30), (230,224,176), (160, 158, 95), (208,224,63), (240, 207,137), (245,147,245), (204,142,0), (229,223,176), (208,216,129)]
CircleColors = [(122, 160, 255), (0, 69, 255), (34,34,178), (0,0,255), (128, 128, 240), (2, 56, 121), (21, 113, 239), (5, 150, 235), (2, 106, 253), (0, 191, 255), (98, 152, 247)]
polygonColor = [(0, 255, 0), (87, 139, 46), (152,241,152), (127,255,0), (47, 107, 85), (91, 154, 91), (70, 234, 199), (20, 255, 57), (135, 171, 41), (192, 240, 208), (131,193, 157)]
animalColors = []
cmap = cm.get_cmap('Set1', noAnimals)
for i in range(cmap.N):
rgb = list((cmap(i)[:3]))
rgb = [i * 255 for i in rgb]
rgb.reverse()
animalColors.append(rgb)
currRow = 0
currentPoints = np.empty((noAnimals, 2), dtype=int)
while (cap.isOpened()):
ret, img = cap.read()
if ret == True:
addSpacer = 2
spacingScale = int(mySpaceScale / (myResolution / maxResDimension))
borderImage = cv2.copyMakeBorder(img, 0,0,0,int(width), borderType=cv2.BORDER_CONSTANT, value=[0, 0, 0])
borderImageHeight, borderImageWidth = borderImage.shape[0], borderImage.shape[1]
for animal in range(len(currentPoints)):
currentPoints[animal][0], currentPoints[animal][1] = currDf.at[currRow, animalBodypartList[animal][0]], currDf.at[currRow, animalBodypartList[animal][1]]
cv2.circle(borderImage, (currentPoints[animal][0], currentPoints[animal][1]), DrawScale, animalColors[animal], -1)
cv2.putText(borderImage, str(multiAnimalIDList[animal]), (currentPoints[animal][0], currentPoints[animal][1]) ,cv2.FONT_HERSHEY_TRIPLEX, textScale, animalColors[animal], 2)
addSpacer += 1
for rectangle in range(noRectangles):
topLeftX, topLeftY = (Rectangles['topLeftX'].iloc[rectangle], Rectangles['topLeftY'].iloc[rectangle])
bottomRightX, bottomRightY = (topLeftX + Rectangles['width'].iloc[rectangle], topLeftY + Rectangles['height'].iloc[rectangle])
rectangleName = Rectangles['Name'].iloc[rectangle]
cv2.rectangle(borderImage, (topLeftX, topLeftY), (bottomRightX, bottomRightY), RectangleColors[rectangle], DrawScale)
for animal in range(len(currentPoints)):
cv2.putText(borderImage, str(rectangleName) + ' ' + str(multiAnimalIDList[animal]) + ' timer:', ((width + 5), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, RectangleColors[rectangle], 2)
if (((topLeftX-10) <= currentPoints[animal][0] <= (bottomRightX+10)) and ((topLeftY-10) <= currentPoints[animal][1] <= (bottomRightY+10))):
rectangleTimes[rectangle][animal] = round((rectangleTimes[rectangle][animal] + (1 / currFps)), 2)
if rectangleEntryCheck[rectangle][animal] == True:
rectangleEntries[rectangle][animal] += 1
rectangleEntryCheck[rectangle][animal] = False
else:
rectangleEntryCheck[rectangle][animal] = True
cv2.putText(borderImage, str(rectangleTimes[rectangle][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, RectangleColors[rectangle], 2)
addSpacer += 1
cv2.putText(borderImage, str(rectangleName) + ' ' + str(multiAnimalIDList[animal]) + ' entries:', ((width + 5), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, RectangleColors[rectangle], 2)
cv2.putText(borderImage, str(rectangleEntries[rectangle][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, RectangleColors[rectangle], 2)
addSpacer += 1
for circle in range(noCircles):
circleName, centerX, centerY, radius = (Circles['Name'].iloc[circle], Circles['centerX'].iloc[circle], Circles['centerY'].iloc[circle], Circles['radius'].iloc[circle])
cv2.circle(borderImage, (centerX, centerY), radius, CircleColors[circle], DrawScale)
for animal in range(len(currentPoints)):
cv2.putText(borderImage, str(circleName) + ' ' + str(multiAnimalIDList[animal]) + ' timer:', ((width + 5), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, CircleColors[circle], 2)
euclidPxDistance = int(np.sqrt((currentPoints[animal][0] - centerX) ** 2 + (currentPoints[animal][1] - centerY) ** 2))
if euclidPxDistance <= radius:
circleTimes[circle][animal] = round((circleTimes[circle][animal] + (1 / currFps)),2)
if circleEntryCheck[circle][animal] == True:
circleEntries[circle][animal] += 1
circleEntryCheck[circle][animal] = False
else:
circleEntryCheck[circle][animal] = True
cv2.putText(borderImage, str(circleTimes[circle][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, CircleColors[circle], 2)
addSpacer += 1
cv2.putText(borderImage, str(circleName) + ' ' + str(multiAnimalIDList[animal]) + ' entries:', ((width + 5), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, CircleColors[circle], 2)
cv2.putText(borderImage, str(circleEntries[circle][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, CircleColors[circle], 2)
addSpacer += 1
for polygon in range(noPolygons):
PolygonName, vertices = (Polygons['Name'].iloc[polygon], Polygons['vertices'].iloc[polygon])
vertices = np.array(vertices, np.int32)
cv2.polylines(borderImage, [vertices], True, polygonColor[polygon], thickness=DrawScale)
for animal in range(len(currentPoints)):
pointList = []
cv2.putText(borderImage, str(PolygonName) + ' ' + str(multiAnimalIDList[animal]) + ' timer:', ((width + 5), (height - (height + 10) + spacingScale * addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, polygonColor[polygon], 2)
for i in vertices:
point = geometry.Point(i)
pointList.append(point)
polyGon = geometry.Polygon([[p.x, p.y] for p in pointList])
CurrPoint = Point(int(currentPoints[animal][0]), int(currentPoints[animal][1]))
polyGonStatus = (polyGon.contains(CurrPoint))
if polyGonStatus == True:
polygonTime[polygon][animal] = round((polygonTime[polygon][animal] + (1 / currFps)), 2)
if polygonEntryCheck[polygon][animal] == True:
polyGonEntries[polygon][animal] += 1
polygonEntryCheck[polygon][animal] = False
else:
polygonEntryCheck[polygon][animal] = True
cv2.putText(borderImage, str(polygonTime[polygon][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale * addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, polygonColor[polygon], 2)
addSpacer += 1
cv2.putText(borderImage, str(PolygonName) + ' ' + str(multiAnimalIDList[animal]) + ' entries:', ((width + 5), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, polygonColor[polygon], 2)
cv2.putText(borderImage, str(polyGonEntries[polygon][animal]), ((int(borderImageWidth-(borderImageWidth/8))), (height - (height + 10) + spacingScale*addSpacer)), cv2.FONT_HERSHEY_TRIPLEX, textScale, polygonColor[polygon], 2)
addSpacer += 1
borderImage = np.uint8(borderImage)
writer.write(borderImage)
# cv2.imshow('Window', borderImage)
# key = cv2.waitKey(3000)
# if key == 27:
# cv2.destroyAllWindows()
#
# break
currRow += 1
print('Frame: ' + str(currRow) + '/' + str(frames))
if img is None:
print('Video ' + str(CurrentVideoName) + ' saved.')
cap.release()
break
print('ROI videos generated in "project_folder/frames/ROI_analysis"')
#name = sfneigh['features'][0]['properties']['neighborhood']
#ID = sfneigh['features'][0]['properties']['id']
for i in range(len(shape_json)):
if len(shape_json[i]) == 1:
shape_json[i] = shape_json[i][0]
poly_sf = []
for j in shape_json:
poly_sf.append(geom.Polygon([(i[0], i[1]) for i in j]))
first = gpd.GeoDataFrame(neighbor_sf_df,
geometry=poly_sf,
crs={'init': 'epsg:4326'})
lonlat = [
geom.Point(lon, lat)
for lon, lat in zip(alldata.longitude, alldata.latitude)
]
sf = gpd.GeoDataFrame(alldata, geometry=lonlat, crs={'init': 'epsg:4326'})
f1 = lambda x: any([x.within(i) for i in first.geometry])
sf_neighbor = map(f1, sf.geometry)
sf_neighbor_df1 = sf.ix[sf_neighbor, :].reset_index()
f2 = lambda x: [x.within(i) for i in first.geometry].index(True)
neigh_range = map(f2, sf_neighbor_df1.geometry)
id_neigh = [first.ix[i, 'id'] for i in neigh_range]
sf_neighbor_df1['id_neigh'] = id_neigh
sf_neighbor_expensive = sf_neighbor_df1.ix[
[i in [3, 4] for i in sf_neighbor_df1.price], :]
restrant_expensive = sf_neighbor_expensive['id_neigh'].value_counts()
restrant_num = sf_neighbor_df1['id_neigh'].value_counts()
def test_empty_point(self):
self.assertTrue(sgeom.Point().is_empty)
def _GetPoint(point):
"""Gets a Point from a placemark."""
coord = point.coordinates.text.strip()
return sgeo.Point(_SplitCoordinates(coord))
#import matplotlib as mpl
#mpl.use('Agg')
#from matplotlib import pyplot as plt
#plt.imshow(matrix[0].T, origin='lower')
#plt.savefig('oi.png')
#import IPython
#IPython.embed()
if report_to is not None:
report_to.write('\n')
return matrix
if __name__ == '__main__':
with open(os.path.join("SimpleFunciona", "random-line.object")) as infile:
obj = objects.ObjectFile.from_file(infile)
polygon_list = []
for car in obj['car in line']:
for sub_structure in car:
polygon_list.append(sub_structure.as_polygon())
point = geometry.Point((1, 1))
#print(point.within(all_polygon))
matrix = calc_position_matrix((633, 456, 663, 531), polygon_list)
print(matrix[0])
matrix_plot(matrix[1])
def sensor_plane_inter(sensor_slope, center_cor):
slope_ = sensor_slope * np.pi / 180
fov_ = fov * np.pi / 180
# 过相机中心且与像素平面平行的直线方程为：y = kx + d_
# 像素平面的直线方程为：y = kx + C_
d_ = center_cor[1] - slope_ * center_cor[0]
if math.pi / 2 < slope_ < math.pi:
C_ = d_ - focal_length * np.sqrt(slope_**2 + 1)
else:
C_ = d_ + focal_length * np.sqrt(slope_**2 + 1)
# 求fov右边界与sensor plane的交点坐标（x_intersection_right， y_intersection_right）
k_right = np.tan(-(np.pi - fov_) / 2 + slope_)
b_right = center_cor[1] - k_right * center_cor[0]
x_intersection_right = (C_ - b_right) / (-slope_ + k_right)
y_intersection_right = slope_ * x_intersection_right + C_
# 求fov左边界与sensor plane的交点坐标（x_intersection_left， y_intersection_left）
k_left = np.tan(-(np.pi - fov_) / 2 - fov_ + slope_)
b_left = center_cor[1] - k_left * center_cor[0]
x_intersection_left = (C_ - b_left) / (-slope_ + k_left)
y_intersection_left = slope_ * x_intersection_left + C_
# 计算ray（光心和坐标原点的连线）与 sensor plane的交点
ray_slope = center_cor[1] / center_cor[0]
ray_inter_x = C_ / (ray_slope - slope_)
ray_inter_y = ray_slope * ray_inter_x
# 计算ray所属的pixel左右端点及其坐标
x_left = ((ray_inter_x - x_intersection_left) //
pixel_size) * pixel_size + x_intersection_left
y_left = slope_ * x_left + C_
x_right = ((ray_inter_x - x_intersection_left) // pixel_size +
1) * pixel_size + x_intersection_left
y_right = slope_ * x_right + C_
print((y_intersection_right - y_intersection_left) /
(x_intersection_right - x_intersection_left), slope_,
(y_right - y_left) / (x_right - x_left))
inter_cor_set = [(x_left, y_left), (x_right, y_right)]
# print(((ray_inter_x - x_intersection_left)//pixel_size))
# print(x_left, ray_inter_x, x_right)
# print([(x_left, y_left), (x_right, y_right)])
sensor_line = sp.LineString([(x_intersection_right, y_intersection_right),
(x_intersection_left, y_intersection_left)])
inter_circle = sp.Point(ray_inter_x, ray_inter_y).buffer(pixel_size / 2)
inter_region = inter_circle.intersection(sensor_line)
inter_cor_set_2 = list(inter_region.coords)
print(inter_cor_set)
print(inter_cor_set_2)
print(
np.sqrt((inter_cor_set[0][0] - inter_cor_set[1][0])**2 +
(inter_cor_set[0][1] - inter_cor_set[1][1])**2))
print(
np.sqrt((inter_cor_set_2[0][0] - inter_cor_set_2[1][0])**2 +
(inter_cor_set_2[0][1] - inter_cor_set_2[1][1])**2))
print(pixel_size)
return inter_cor_set
def test(self):
'Run tests'
print 'Save and load a SHP file without attributes'
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries)
result = geometry_store.load(path)
self.assertEqual(result[0].strip(), geometry_store.proj4LL)
self.assertEqual(len(result[1]), len(shapelyGeometries))
print 'Save and load a SHP file with attributes'
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, fieldPacks, fieldDefinitions)
result = geometry_store.load(path)
self.assertEqual(len(result[2]), len(fieldPacks))
for shapelyGeometry, fieldPack in itertools.izip(result[1], result[2]):
print
for fieldValue, (fieldName, fieldType) in itertools.izip(fieldPack, result[3]):
print '%s = %s' % (fieldName, fieldValue)
print shapelyGeometry
print 'Save a SHP file with attributes with different targetProj4'
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, fieldPacks, fieldDefinitions, targetProj4=geometry_store.proj4SM)
result = geometry_store.load(path)
self.assertNotEqual(result[0].strip(), geometry_store.proj4LL)
print 'Load a SHP file with attributes with different targetProj4'
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, fieldPacks, fieldDefinitions)
result = geometry_store.load(path, targetProj4=geometry_store.proj4SM)
self.assertNotEqual(result[0].strip(), geometry_store.proj4LL)
print 'Save and load a ZIP file without attributes using save'
path = self.getPath('.shp.zip')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries)
result = geometry_store.load(path)
self.assertEqual(result[0].strip(), geometry_store.proj4LL)
self.assertEqual(len(result[1]), len(shapelyGeometries))
print 'Save and load a ZIP file with attributes using save'
path = self.getPath('.shp.zip')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, fieldPacks, fieldDefinitions)
result = geometry_store.load(path)
self.assertEqual(len(result[2]), len(fieldPacks))
print 'Test saving and loading ZIP files of point coordinates'
path = self.getPath('.shp.zip')
geometry_store.save_points(path, geometry_store.proj4LL, [(0, 0)], fieldPacks, fieldDefinitions)
result = geometry_store.load_points(path)
self.assertEqual(result[1], [(0, 0)])
print 'Test get_transform_point'
transform_point0 = geometry_store.get_transform_point(geometry_store.proj4LL, geometry_store.proj4LL)
transform_point1 = geometry_store.get_transform_point(geometry_store.proj4LL, geometry_store.proj4SM)
self.assertNotEqual(transform_point0(0, 0), transform_point1(0, 0))
print 'Test get_transform_geometry'
transform_geometry = geometry_store.get_transform_geometry(geometry_store.proj4LL, geometry_store.proj4SM)
self.assertEqual(type(transform_geometry(geometry.Point(0, 0))), type(geometry.Point(0, 0)))
self.assertEqual(type(transform_geometry(ogr.CreateGeometryFromWkt('POINT (0 0)'))), type(ogr.CreateGeometryFromWkt('POINT (0 0)')))
print 'Test get_coordinateTransformation'
geometry_store.get_coordinateTransformation(geometry_store.proj4LL, geometry_store.proj4SM)
print 'Test get_spatialReference'
geometry_store.get_spatialReference(geometry_store.proj4LL)
with self.assertRaises(geometry_store.GeometryError):
geometry_store.get_spatialReference('')
print 'Test get_geometryType'
geometry_store.get_geometryType(shapelyGeometries)
print 'Test save() when a fieldPack has fewer fields than definitions'
with self.assertRaises(geometry_store.GeometryError):
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, [x[1:] for x in fieldPacks], fieldDefinitions)
print 'Test save() when a fieldPack has more fields than definitions'
with self.assertRaises(geometry_store.GeometryError):
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, [x * 2 for x in fieldPacks], fieldDefinitions)
print 'Test save() when the driverName is unrecognized'
with self.assertRaises(geometry_store.GeometryError):
path = self.getPath('.shp')
geometry_store.save(path, geometry_store.proj4LL, shapelyGeometries, driverName='')
print 'Test load() when format is unrecognized'
with self.assertRaises(geometry_store.GeometryError):
path = self.getPath('')
geometry_store.load(path)
cv2.polylines(borderImage, [vertices],
True,
polygonColor[polygon],
thickness=DrawScale)
for animal in range(len(currentPoints)):
pointList = []
cv2.putText(
borderImage,
str(PolygonName) + ' ' + str(multiAnimalIDList[animal]) +
' timer:',
((width + 5),
(height - (height + 10) + spacingScale * addSpacer)),
cv2.FONT_HERSHEY_TRIPLEX, textScale, polygonColor[polygon],
2)
for i in vertices:
point = geometry.Point(i)
pointList.append(point)
polyGon = geometry.Polygon([[p.x, p.y] for p in pointList])
CurrPoint = Point(int(currentPoints[animal][0]),
int(currentPoints[animal][1]))
polyGonStatus = (polyGon.contains(CurrPoint))
if polyGonStatus == True:
polygonTime[polygon][animal] = round(
(polygonTime[polygon][animal] + (1 / currFps)), 2)
if polygonEntryCheck[polygon][animal] == True:
polyGonEntries[polygon][animal] += 1
polygonEntryCheck[polygon][animal] = False
else:
polygonEntryCheck[polygon][animal] = True
cv2.putText(borderImage, str(polygonTime[polygon][animal]),
((int(borderImageWidth - (borderImageWidth / 8))),
def test_almost_equals_default(self):
p1 = geometry.Point(1.0, 1.0)
p2 = geometry.Point(1.0 + 1e-7, 1.0 + 1e-7) # almost equal to 6 places
p3 = geometry.Point(1.0 + 1e-6, 1.0 + 1e-6) # not almost equal
self.failUnless(p1.almost_equals(p2))
self.failIf(p1.almost_equals(p3))
def path_to_geos(path, force_ccw=False):
"""
Create a list of Shapely geometric objects from a
:class:`matplotlib.path.Path`.
Parameters
----------
path
A :class:`matplotlib.path.Path` instance.
Other Parameters
----------------
force_ccw
Boolean flag determining whether the path can be inverted to enforce
ccw. Defaults to False.
Returns
-------
A list of instances of the following type(s):
:class:`shapely.geometry.polygon.Polygon`,
:class:`shapely.geometry.linestring.LineString` and/or
:class:`shapely.geometry.multilinestring.MultiLineString`.
"""
# Convert path into numpy array of vertices (and associated codes)
path_verts, path_codes = path_segments(path, curves=False)
# Split into subarrays such that each subarray consists of connected
# line segments based on the start of each one being marked by a
# matplotlib MOVETO code.
verts_split_inds = np.where(path_codes == Path.MOVETO)[0]
verts_split = np.split(path_verts, verts_split_inds)
codes_split = np.split(path_codes, verts_split_inds)
# Iterate through the vertices generating a list of
# (external_geom, [internal_polygons]) tuples.
other_result_geoms = []
collection = []
for path_verts, path_codes in zip(verts_split, codes_split):
if len(path_verts) == 0:
continue
if path_codes[-1] == Path.CLOSEPOLY:
path_verts[-1, :] = path_verts[0, :]
verts_same_as_first = np.isclose(path_verts[0, :], path_verts[1:, :],
rtol=1e-10, atol=1e-13)
verts_same_as_first = np.logical_and.reduce(verts_same_as_first,
axis=1)
if all(verts_same_as_first):
geom = sgeom.Point(path_verts[0, :])
elif path_verts.shape[0] > 4 and path_codes[-1] == Path.CLOSEPOLY:
geom = sgeom.Polygon(path_verts[:-1, :])
elif (matplotlib.__version__ < '2.2.0' and
# XXX A path can be given which does not end with close poly,
# in that situation, we have to guess?
path_verts.shape[0] > 3 and verts_same_as_first[-1]):
geom = sgeom.Polygon(path_verts)
else:
geom = sgeom.LineString(path_verts)
# If geom is a Polygon and is contained within the last geom in
# collection, add it to its list of internal polygons, otherwise
# simply append it as a new external geom.
if geom.is_empty:
pass
elif (len(collection) > 0 and
isinstance(collection[-1][0], sgeom.Polygon) and
isinstance(geom, sgeom.Polygon) and
collection[-1][0].contains(geom.exterior)):
collection[-1][1].append(geom.exterior)
elif isinstance(geom, sgeom.Point):
other_result_geoms.append(geom)
else:
collection.append((geom, []))
# Convert each (external_geom, [internal_polygons]) pair into a
# a shapely Polygon that encapsulates the internal polygons, if the
# external geom is a LineString leave it alone.
geom_collection = []
for external_geom, internal_polys in collection:
if internal_polys:
# XXX worry about islands within lakes
geom = sgeom.Polygon(external_geom.exterior, internal_polys)
else:
geom = external_geom
# Correctly orientate the polygon (ccw)
if isinstance(geom, sgeom.Polygon):
if force_ccw and not geom.exterior.is_ccw:
geom = sgeom.polygon.orient(geom)
geom_collection.append(geom)
# If the geom_collection only contains LineStrings combine them
# into a single MultiLinestring.
if geom_collection and all(isinstance(geom, sgeom.LineString) for
geom in geom_collection):
geom_collection = [sgeom.MultiLineString(geom_collection)]
# Remove any zero area Polygons
def not_zero_poly(geom):
return ((isinstance(geom, sgeom.Polygon) and not geom._is_empty and
geom.area != 0) or
not isinstance(geom, sgeom.Polygon))
result = list(filter(not_zero_poly, geom_collection))
return result + other_result_geoms