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#!/usr/bin/env python
""" """
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "BSD"
from typing import TypeVar, Tuple
import json
from argaze import DataStructures
import cv2
import matplotlib.path as mpath
import numpy
from shapely.geometry import Polygon
from shapely.geometry.point import Point
AreaOfInterestType = TypeVar('AreaOfInterest', bound="AreaOfInterest")
# Type definition for type annotation convenience
class AreaOfInterest(numpy.ndarray):
"""Define Area Of Interest as an array of points of any dimension."""
def __new__(cls, points: numpy.array = numpy.empty(0)) -> AreaOfInterestType:
"""View casting inheritance."""
return numpy.array(points).view(AreaOfInterest)
def __repr__(self):
"""String representation"""
return repr(self.tolist())
def __str__(self):
"""String display"""
return repr(self.tolist())
@property
def dimension(self) -> int:
"""Number of axis coding area points positions."""
return self.shape[1]
@property
def size(self) -> int:
"""Number of points defining the area."""
return self.shape[0]
@property
def empty(self) -> bool:
"""Is AOI empty ?"""
return self.shape[0] == 0
@property
def center(self) -> numpy.array:
"""Center of mass."""
return self.mean(axis=0)
@property
def area(self) -> float:
"""Area of the polygon defined by aoi's points."""
return Polygon(self).area
@property
def bounding_box(self) -> numpy.array:
"""Get area's bounding box.
.. warning::
Available for 2D AOI only."""
assert(self.size > 1)
assert(self.dimension == 2)
min_x, min_y = numpy.min(self, axis=0)
max_x, max_y = numpy.max(self, axis=0)
return numpy.array([(min_x, min_y), (max_x, min_y), (max_x, max_y), (min_x, max_y)])
def clockwise(self) -> AreaOfInterestType:
"""Get area points in clockwise order.
.. warning::
Available for 2D AOI only."""
assert(self.dimension == 2)
O = self.center
OP = (self - O) / numpy.linalg.norm(self - O)
angles = numpy.arctan2(OP[:, 1], OP[:, 0])
return self[numpy.argsort(angles)]
def contains_point(self, point: tuple) -> bool:
"""Is a point inside area?
.. warning::
Available for 2D AOI only.
.. danger::
The AOI points must be sorted in clockwise order."""
assert(self.dimension == 2)
assert(len(point) == self.dimension)
return mpath.Path(self).contains_points([point])[0]
def inner_axis(self, point: tuple) -> tuple:
"""Transform the coordinates from the global axis to the AOI's axis.
.. warning::
Available for 2D AOI only.
.. danger::
The AOI points must be sorted in clockwise order."""
assert(self.dimension == 2)
Src = self
Src_origin = Src[0]
Src = (Src - Src_origin).reshape((len(Src)), 2).astype(numpy.float32)
Dst = numpy.array([[0., 0.], [1., 0.], [1., 1.], [0., 1.]]).astype(numpy.float32)
P = cv2.getPerspectiveTransform(Src, Dst)
X = numpy.append(numpy.array(numpy.array(point) - Src_origin), [1.0]).astype(numpy.float32)
Y = numpy.dot(P, X)
La = (Y/Y[2])[:-1]
return tuple(numpy.around(La, 4))
def outter_axis(self, point: tuple) -> tuple:
"""Transform the coordinates from the AOI's axis to the global axis.
.. warning::
Available for 2D AOI only.
.. danger::
The AOI points must be sorted in clockwise order."""
assert(self.dimension == 2)
Src = numpy.array([[0., 0.], [1., 0.], [1., 1.], [0., 1.]]).astype(numpy.float32)
Dst = self.astype(numpy.float32)
Dst_origin = Dst[0]
Dst = (Dst - Dst_origin).reshape((len(Dst)), 2)
P = cv2.getPerspectiveTransform(Src, Dst)
X = numpy.array([point[0], point[1], 1.0]).astype(numpy.float32)
Y = numpy.dot(P, X)
Lp = Dst_origin + (Y/Y[2])[:-1]
return tuple(numpy.rint(Lp).astype(int))
def circle_intersection(self, center: tuple, radius: float) -> Tuple[numpy.array, float, float]:
"""Get intersection shape with a circle, intersection area / AOI area ratio and intersection area / circle area ratio.
.. warning::
Available for 2D AOI only.
* **Returns:**
- intersection shape,
- intersection aoi ratio,
- intersection circle ratio
"""
assert(self.dimension == 2)
self_polygon = Polygon(self)
args_circle = Point(center).buffer(radius)
if self_polygon.intersects(args_circle):
intersection = self_polygon.intersection(args_circle)
intersection_array = numpy.array([list(xy) for xy in intersection.exterior.coords[:]]).astype(numpy.float32).view(AreaOfInterest)
return intersection_array, intersection.area / self_polygon.area, intersection.area / args_circle.area
else:
empty_array = numpy.array([list([])]).astype(numpy.float32).view(AreaOfInterest)
return empty_array, 0., 0.
def draw(self, frame, color, border_size=1):
"""Draw 2D AOI into frame.
.. warning::
Available for 2D AOI only."""
assert(self.dimension == 2)
if len(self) > 1:
# Draw form
pixels = numpy.rint(self).astype(int)
cv2.line(frame, pixels[-1], pixels[0], color, border_size)
for A, B in zip(pixels, pixels[1:]):
cv2.line(frame, A, B, color, border_size)
# Draw center
center_pixel = numpy.rint(self.center).astype(int)
cv2.circle(frame, center_pixel, 1, color, -1)
AOIFrameType = TypeVar('AOIFrame', bound="AOIFrame")
# Type definition for type annotation convenience
class AOIFrame():
"""Define frame to draw into 2D AOI."""
def __init__(self, aoi: AreaOfInterestType, size: tuple):
"""
.. warning::
Available for 2D AOI only."""
assert(aoi.dimension == 2)
self.__rX, self.__rY = size
# Init coordinates
self.__Sx = numpy.linspace(0., self.__rX/self.__rY, self.__rX)
self.__Sy = numpy.linspace(0., 1., self.__rY)
# Init heatmap
self.heatmap_init()
def point_spread(self, point: tuple, sigma: float):
"""Draw gaussian point spread into frame."""
div = -2 * sigma**2
x = point[0] / self.__rY # we use rY not rX !!!
y = point[1] / self.__rY
dX2 = (self.__Sx - x)**2
dY2 = (self.__Sy - y)**2
v_dX, v_dY = numpy.array(numpy.meshgrid(dX2, dY2)).reshape(2, -1)
return numpy.exp((v_dX + v_dY) / div).reshape(self.__rY, self.__rX)
def heatmap_init(self, buffer_size: int = 0):
"""Initialize heatmap matrix."""
self.__point_spread_sum = numpy.zeros((self.__rY, self.__rX))
self.__point_spread_buffer = []
self.__point_spread_buffer_size = buffer_size
def heatmap_update(self, point: tuple, sigma: float):
"""Update heatmap matrix.
.. danger::
Call heatmap_init() method before any update."""
point_spread = self.point_spread(point, sigma)
# Sum point spread
self.__point_spread_sum += point_spread
# If point spread buffering enabled
if self.__point_spread_buffer_size > 0:
self.__point_spread_buffer.append(point_spread)
# Remove oldest point spread buffer frame
if len(self.__point_spread_buffer) > self.__point_spread_buffer_size:
self.__point_spread_sum -= self.__point_spread_buffer.pop(0)
# Edit heatmap
heatmap_gray = (255 * self.__point_spread_sum / numpy.max(self.__point_spread_sum)).astype(numpy.uint8)
self.__heatmap_matrix = cv2.applyColorMap(heatmap_gray, cv2.COLORMAP_JET)
@property
def heatmap_buffer(self) -> int:
"""Get size of heatmap buffer."""
return self.__point_spread_buffer_size
@heatmap_buffer.setter
def heatmap_buffer(self, size: int):
"""Set size of heatmap buffer (0 means no buffering)."""
self.__point_spread_buffer = []
self.__point_spread_buffer_size = size
@property
def heatmap(self):
"""Get heatmap matrix."""
try:
return self.__heatmap_matrix
except AttributeError:
return numpy.zeros((self.__rY, self.__rX, 3)).astype(numpy.uint8)
AOISceneType = TypeVar('AOIScene', bound="AOIScene")
# Type definition for type annotation convenience
class AOIScene():
"""Define AOI scene as a dictionary of AOI."""
def __init__(self, dimension: int, areas: dict = None):
"""Initialisation."""
assert(dimension > 0)
self.__dimension = dimension
self.__areas = {}
# NEVER USE {} as default function argument
if areas is not None:
for name, area in areas.items():
self[name] = AreaOfInterest(area)
def __getitem__(self, name) -> AreaOfInterest:
"""Get an AOI from the scene."""
return AreaOfInterest(self.__areas[name])
def __setitem__(self, name, aoi: AreaOfInterest):
"""Add an AOI to the scene."""
assert(aoi.dimension == self.__dimension)
self.__areas[name] = AreaOfInterest(aoi)
# Expose area as an attribute of the class
setattr(self, name, self.__areas[name])
def __delitem__(self, key):
"""Remove an AOI from the scene."""
del self.__areas[key]
# Stop area exposition as an attribute of the class
delattr(self, key)
def __len__(self):
"""Get number of AOI into scene."""
return len(self.__areas)
def __repr__(self):
"""String representation"""
return str(self.__areas)
def __str__(self) -> str:
"""String display"""
output = ''
for name, area in self.__areas.items():
output += f'\n\t{name}:\n{area}'
return output
def __mul__(self, scale_vector) -> AOISceneType:
"""Scale scene by a vector."""
assert(len(scale_vector) == self.__dimension)
for name, area in self.__areas.items():
self.__areas[name] = self.__areas[name] * scale_vector
return self
# Allow n * scene operation
__rmul__ = __mul__
def items(self) -> Tuple[str, AreaOfInterest]:
"""Iterate over areas."""
return self.__areas.items()
def keys(self) -> list[str]:
"""Get areas name."""
return self.__areas.keys()
@property
def dimension(self) -> int:
"""Dimension of the AOIs in scene."""
return self.__dimension
@property
def bounds(self) -> numpy.array:
"""Get scene's bounds."""
all_vertices = []
for area in self.__areas.values():
for vertice in area:
all_vertices.append(vertice)
all_vertices = numpy.array(all_vertices) #.astype(numpy.float32)
min_bounds = numpy.min(all_vertices, axis=0)
max_bounds = numpy.max(all_vertices, axis=0)
return numpy.array([min_bounds, max_bounds])
@property
def center(self) -> numpy.array:
"""Get scene's center point."""
min_bounds, max_bounds = self.bounds
return (min_bounds + max_bounds) / 2
@property
def size(self) -> numpy.array:
"""Get scene size."""
min_bounds, max_bounds = self.bounds
return max_bounds - min_bounds
def copy(self, exclude=[]) -> AOISceneType:
"""Copy scene partly excluding AOI by name."""
scene_copy = type(self)()
for name, area in self.__areas.items():
if name not in exclude:
scene_copy[name] = AreaOfInterest(area) #.astype(numpy.float32).view(AreaOfInterest)
return scene_copy
class TimeStampedAOIScenes(DataStructures.TimeStampedBuffer):
"""Define timestamped buffer to store AOI scenes in time."""
def __setitem__(self, ts, scene):
"""Force value to inherit from AOIScene."""
assert(type(scene).__bases__[0] == AOIScene)
super().__setitem__(ts, scene)
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