#
# Copyright (c) Simon Kohaut, Honda Research Institute Europe GmbH, Felix Divo, and contributors
#
# This file is part of ProMis and licensed under the BSD 3-Clause License.
# You should have received a copy of the BSD 3-Clause License along with ProMis.
# If not, see https://opensource.org/license/bsd-3-clause/.
#
# Third Party
import numpy as np
from shapely import linestrings
from shapely.strtree import STRtree
# ProMis
from promis.geo import CartesianCollection
from .relation import Relation
[docs]
class Crosses(Relation):
"""A probabilistic relation that checks if a point to point transition "crosses" a map feature.
This relation is true if a given location and its transition location form a line that crosses over
any of the geometries of a specific type on the map. The probability is derived from a set of sample maps.
"""
[docs]
@staticmethod
def compute_relation(
collection: CartesianCollection, r_tree: STRtree, original_geometries: list
) -> list[float]:
coords = collection.coordinates()
end_coords = coords + collection.transitions()[:, :2]
trajectories = linestrings(np.stack([coords, end_coords], axis=1))
result = r_tree.query(trajectories, predicate="crosses")
hits = np.zeros(len(coords), dtype=float)
if result.size > 0:
hits[result[0]] = 1.0
return hits
[docs]
@staticmethod
def empty_map_parameters() -> list[float]:
return [0.0, 0.0]