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annotate python/utils.py @ 27:44689029a86f

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updated segmentIntersection and other
author Nicolas Saunier <nico@confins.net>
date Sat, 05 Dec 2009 15:40:28 -0500
parents 6fb59cfb201e
children ca8e716cc231
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1 #! /usr/bin/env python
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2 ''' Generic utilities.'''
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3
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4 #from numpy import *
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5 #from pylab import *
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6
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7 from moving import Point,Interval
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8
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9 __metaclass__ = type
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10
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11 commentChar = '#';
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13 #########################
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14 # maths section
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15 #########################
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17 def segmentIntersection(p1, p2, p3, p4):
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18 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise
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20 >>> segmentIntersection(Point(0,0),Point(1,1), Point(0,1), Point(1,2))
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21 >>> segmentIntersection(Point(0,1),Point(1,0), Point(0,2), Point(2,1))
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22 >>> segmentIntersection(Point(0,0),Point(2,0), Point(1,-1),Point(1,1))
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23 (1.000000,0.000000)
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24 >>> segmentIntersection(Point(0,1),Point(2,0),Point(1,1),Point(1,2))
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25 '''
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26 from numpy import matrix
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27 from numpy.linalg import linalg, det
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29 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]]
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30 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]]
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32 A = matrix([[dp1.y, -dp1.x],
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33 [dp2.y, -dp2.x]])
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34 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
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35 [dp2.y*p3.x-dp2.x*p3.y]])
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36
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37 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0:
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38 return None
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39 else:
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40 intersection = linalg.solve(A,B)
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41 if (Interval(p1.x, p2.x, True).contains(intersection[0,0])
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42 and Interval(p3.x, p4.x, True).contains(intersection[0,0])
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43 and Interval(p1.y, p2.y, True).contains(intersection[1,0])
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44 and Interval(p3.y, p4.y, True).contains(intersection[1,0])):
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45 return Point(intersection[0,0], intersection[1,0])
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46 else:
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47 return None
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48
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49 def crossProduct(l1, l2):
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50 return l1[0]*l2[1]-l1[1]*l2[0]
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51
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52 #########################
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53 # file I/O section
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54 #########################
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55
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56 def openCheck(filename, option = 'r', quit = False):
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57 '''Open file filename in read mode by default
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58 and checks it is open
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59
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60 >>> f = openCheck('non_existant_file.txt')
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61 File non_existant_file.txt could not be opened.
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62 '''
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63 try:
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64 return open(filename, option)
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65 except IOError:
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66 print 'File %s could not be opened.' % filename
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67 if quit:
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68 from sys import exit
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69 exit()
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70 return None
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71
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72 def readline(f):
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73 '''Modified readline function to skip comments.'''
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74 s = f.readline()
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75 while (len(s) > 0) and s.startswith(commentChar):
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76 s = f.readline()
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77 return s.strip()
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78
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79 def removeExtension(filename, delimiter = '.'):
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80 '''Returns the filename minus the extension (all characters after last .)
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81 >>> removeExtension('test-adfasdf.asdfa.txt')
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82 'test-adfasdf.asdfa'
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83 >>> removeExtension('test-adfasdf')
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84 'test-adfasdf'
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85 '''
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86 i = filename.rfind(delimiter)
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87 if i>0:
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88 return filename[:i]
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89 else:
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90 return filename
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91
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92 def listfiles(dirname, extension, remove = False):
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93 '''Returns the list of files with the extension in the directory dirname
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94 If remove is True, the filenames are stripped from the extension'''
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95 from os import listdir
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96 tmp = [f for f in listdir(dirname) if f.endswith(extension)]
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97 tmp.sort()
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98 if remove:
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99 return [removeExtension(f, extension) for f in tmp]
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100 else:
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101 return tmp
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102
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103 def removeFile(filename):
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104 '''Deletes the file while avoiding raising an error
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105 if the file does not exist'''
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106 if (os.path.exists(filename)):
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107 os.remove(filename)
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108
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109 def invertHomography(homography):
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110 'Returns an inverted homography'
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111 from numpy.linalg.linalg import inv
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112 invH = inv(homography)
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113 invH /= invH[2,2]
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114 return invH
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115
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116 def project(homography, p):
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117 '''Returns the coordinates of the projection of the point p
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118 through homography'''
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119 from numpy.core._dotblas import dot
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120 from numpy.core.multiarray import array
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121 from numpy.lib.function_base import insert
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122 if (homography!=None) and (len(homography)>0):
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123 pAugmented = insert(array(p), [2],[1], axis=0)
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124 projected = dot(homography, pAugmented)
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125 projected[0] /= projected[2]
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126 projected[1] /= projected[2]
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127 else:
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128 projected = p
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129 return projected[:2]
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130
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131 def projectTrajectory(homography, trajectory):
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132 '''Projects a series of points in the format
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133 [[x1, x2, ...],
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134 [y1, y2, ...]]
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135
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136 Warning: not optimized, calls project()'''
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137 projected = [[],[]]
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138 for x, y in zip(trajectory[0], trajectory[1]):
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139 p = [x,y]
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140 pp = project(homography, p)
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141 projected[0].append(pp[0])
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142 projected[1].append(pp[1])
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143 return projected
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144
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145 def plotPolygon(poly, options = ''):
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146 from numpy.core.multiarray import array
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147 from matplotlib.pyplot import plot
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148 from shapely.geometry import Polygon
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149
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150 tmp = array(poly.exterior)
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151 plot(tmp[:,0], tmp[:,1], options)
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152
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153 if __name__ == "__main__":
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154 import doctest
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155 import unittest
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156 #suite = doctest.DocFileSuite('tests/ubc_utils.txt')
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157 suite = doctest.DocTestSuite()
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158 unittest.TextTestRunner().run(suite)
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159 #doctest.testmod()
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160 #doctest.testfile("example.txt")