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parking_lot.py
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from npz_trajectory import NpzTrajectory
import numpy as np
from traffic_lane import TrafficLane
from npz_utils import get_random_npz_trajectory
def has_parking_lot(npz_trajectory: NpzTrajectory):
V = npz_trajectory.vector_data
X, idx = V[:, :44], V[:, 44].flatten()
lanes = []
statics = []
for i in np.unique(idx):
_X = X[idx == i]
if _X[:, 13:16].sum() > 0:
# print(i)
lane = TrafficLane(_X[:, 0], _X[:, 1])
lanes.append(lane)
# print(_X[:, 0])
# print(_X[:, 1])
if _X[:, 8].sum() > 0:
if not _X[-1, 2]:
static_coordinate = np.array([_X[:, 0][0], _X[:, 1][0]])
# print(_X[:, 0][0])
# print(_X[:, 1][0])
statics.append(static_coordinate)
# print(len(statics))
# rel_lane_dists = []
counter = 0
width = npz_trajectory.get_scenario_width()
for static in statics:
lane_dist = min([lane.min_distance_to_point(static) / width for lane in lanes])
# print(lane_dist)
if lane_dist > 0.01:
counter += 1
# rel_lane_dists.append(lane_dist)
# print(rel_lane_dists)
# print(f"Counter: {counter}")
# print(counter)
return counter > 1
def has_parking_lot_refined(npz_trajectory: NpzTrajectory):
V = npz_trajectory.vector_data
X, idx = V[:, :44], V[:, 44].flatten()
lanes = []
statics = []
for i in np.unique(idx):
_X = X[idx == i]
if np.any(_X[:, 13:16].sum(axis=1) > 0):
lane = TrafficLane(_X[:, 0], _X[:, 1])
lanes.append(lane)
if np.any(_X[:, 8] > 0) and not _X[-1, 2]:
static_coordinate = np.array([_X[:, 0][0], _X[:, 1][0]])
statics.append(static_coordinate)
width = npz_trajectory.get_scenario_width()
counter = 0
for static in statics:
lane_dist = min([lane.min_distance_to_point(static) / width for lane in lanes])
if lane_dist > 0.01:
counter += 1
return counter > 1
# i = 0
# correct = 0
# incorrect = 0
# while i < 100:
# rnd_traj = NpzTrajectory(get_random_npz_trajectory())
# rnd_traj.plot_scenario()
# user_input = input("Does this have a parking lot?")
# if str(has_parking_lot(rnd_traj)) == user_input:
# correct += 1
# else:
# incorrect += 1
# print(has_parking_lot(rnd_traj))
# print(user_input)
# print(str(has_parking_lot(rnd_traj)) == user_input)
# print(incorrect)
# print(correct)
# help = input("Continue?")