Locator

Create a Locator object¶

In [1]:

import omega_prime
import numpy as np

import omega_prime import numpy as np

In [ ]:

r = omega_prime.Recording.from_file(
    "../../example_files/pedestrian.osi", map_path="../../example_files/fabriksgatan.xodr", apply_proj=False
)

r = omega_prime.Recording.from_file( "../../example_files/pedestrian.osi", map_path="../../example_files/fabriksgatan.xodr", apply_proj=False )

In [3]:

locator = omega_prime.Locator.from_map(r.map)

locator = omega_prime.Locator.from_map(r.map)

Locate an object on the Map¶

In [4]:

nbval-ignore-output

mv = r.moving_objects[1]
mv

mv = r.moving_objects[1] mv

Out[4]:

<omega_prime.recording.MovingObject at 0x1e92d67d910>

In [16]:

nbval-ignore-output

sts = locator.locate_mv(mv)
print(
    f"s[0]: {np.asarray(sts.s[0])}\nt[0]: {np.asarray(sts.t[0])}\nroadlane_id[0]: {np.asarray(sts.roadlane_id[0])}\ntime[0]: {np.asarray(sts.time[0])}"
)

sts = locator.locate_mv(mv) print( f"s[0]: {np.asarray(sts.s[0])}\nt[0]: {np.asarray(sts.t[0])}\nroadlane_id[0]: {np.asarray(sts.roadlane_id[0])}\ntime[0]: {np.asarray(sts.time[0])}" )

s[0]: 14.864804534670384
t[0]: -0.49999423398891507
roadlane_id[0]: XodrLaneId(road_id='0', lane_id=3, section_id=0)
time[0]: 0

In [17]:

nbval-ignore-output

sts_poly = locator.locate_mv(mv, use_polygon=True)
print(
    f"s[0]: {np.asarray(sts_poly.s[0])}\nt[0]: {np.asarray(sts_poly.t[0])}\nroadlane_id[0]: {np.asarray(sts_poly.roadlane_id[0])}\ntime[0]: {np.asarray(sts_poly.time[0])}"
)

sts_poly = locator.locate_mv(mv, use_polygon=True) print( f"s[0]: {np.asarray(sts_poly.s[0])}\nt[0]: {np.asarray(sts_poly.t[0])}\nroadlane_id[0]: {np.asarray(sts_poly.roadlane_id[0])}\ntime[0]: {np.asarray(sts_poly.time[0])}" )

s[0]: 14.864804534670384
t[0]: -0.49999423398891507
roadlane_id[0]: XodrLaneId(road_id='0', lane_id=3, section_id=0)
time[0]: 0

Precision loss of Locator¶

In [18]:

derived_xys = locator.sts2xys(sts)
derived_xys_poly = locator.sts2xys(sts_poly)
derived_xys_poly.shape

derived_xys = locator.sts2xys(sts) derived_xys_poly = locator.sts2xys(sts_poly) derived_xys_poly.shape

Out[18]:

(434, 2)

In [19]:

nbval-ignore-output

np.max(np.linalg.norm(derived_xys_poly - mv.df["x", "y"].to_numpy(), axis=1))

np.max(np.linalg.norm(derived_xys_poly - mv.df["x", "y"].to_numpy(), axis=1))

Out[19]:

np.float64(2.0727719536908503e-05)

In [22]:

# %matplotlib ipympl
# pip install ipympl
import numpy as np
from matplotlib import pyplot as plt
from matplotlib.patches import Polygon as PltPolygon

_, ax = plt.subplots(1, 1)

for lid, l in r.map.lanes.items():
    ax.add_patch(PltPolygon(l.polygon.exterior.coords, fc="blue", alpha=0.2, ec="blue"))
ax.plot(*mv.df["x", "y"].to_numpy().T, label="xys", c="green")
ax.plot(*derived_xys_poly.T, label="derived_xys_based_on_polygon", c="yellow", linestyle="dashed")
ax.plot(*derived_xys.T, label="derived_xys", c="red", linestyle="dotted")
ax.autoscale()
ax.set_aspect(1)
ax.legend(loc="lower center")
ax.set_xlim(-10, 50)
ax.set_ylim(-75, 0)

# %matplotlib ipympl # pip install ipympl import numpy as np from matplotlib import pyplot as plt from matplotlib.patches import Polygon as PltPolygon _, ax = plt.subplots(1, 1) for lid, l in r.map.lanes.items(): ax.add_patch(PltPolygon(l.polygon.exterior.coords, fc="blue", alpha=0.2, ec="blue")) ax.plot(*mv.df["x", "y"].to_numpy().T, label="xys", c="green") ax.plot(*derived_xys_poly.T, label="derived_xys_based_on_polygon", c="yellow", linestyle="dashed") ax.plot(*derived_xys.T, label="derived_xys", c="red", linestyle="dotted") ax.autoscale() ax.set_aspect(1) ax.legend(loc="lower center") ax.set_xlim(-10, 50) ax.set_ylim(-75, 0)

Out[22]:

(-75.0, 0.0)

In [21]:

sts11 = locator.xys2lane_sts(lane_id=omega_prime.map_odr.XodrLaneId("0", 1, 0), xys=mv.df["x", "y"].to_numpy())
sts11.shape

sts11 = locator.xys2lane_sts(lane_id=omega_prime.map_odr.XodrLaneId("0", 1, 0), xys=mv.df["x", "y"].to_numpy()) sts11.shape

Out[21]:

(434, 2)