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from abc import ABCMeta |
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from typing import List |
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import kornia |
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import torch |
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import numpy as np |
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import random |
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from .linalg import LineCollection |
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from torch.utils.data import Dataset, DataLoader |
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from pytorch_lightning import LightningDataModule |
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class SoccerPitchSN: |
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"""Static class variables that are specified by the rules of the game""" |
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GOAL_LINE_TO_PENALTY_MARK = 11.0 |
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PENALTY_AREA_WIDTH = 40.32 |
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PENALTY_AREA_LENGTH = 16.5 |
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GOAL_AREA_WIDTH = 18.32 |
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GOAL_AREA_LENGTH = 5.5 |
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CENTER_CIRCLE_RADIUS = 9.15 |
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GOAL_HEIGHT = 2.44 |
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GOAL_LENGTH = 7.32 |
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lines_classes = [ |
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"Big rect. left bottom", |
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"Big rect. left main", |
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"Big rect. left top", |
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"Big rect. right bottom", |
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"Big rect. right main", |
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"Big rect. right top", |
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"Circle central", |
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"Circle left", |
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"Circle right", |
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"Goal left crossbar", |
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"Goal left post left ", |
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"Goal left post right", |
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"Goal right crossbar", |
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"Goal right post left", |
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"Goal right post right", |
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"Goal unknown", |
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"Line unknown", |
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"Middle line", |
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"Side line bottom", |
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"Side line left", |
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"Side line right", |
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"Side line top", |
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"Small rect. left bottom", |
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"Small rect. left main", |
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"Small rect. left top", |
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"Small rect. right bottom", |
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"Small rect. right main", |
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"Small rect. right top", |
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] |
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symetric_classes = { |
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"Side line top": "Side line bottom", |
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"Side line bottom": "Side line top", |
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"Side line left": "Side line right", |
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"Middle line": "Middle line", |
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"Side line right": "Side line left", |
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"Big rect. left top": "Big rect. right bottom", |
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"Big rect. left bottom": "Big rect. right top", |
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"Big rect. left main": "Big rect. right main", |
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"Big rect. right top": "Big rect. left bottom", |
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"Big rect. right bottom": "Big rect. left top", |
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"Big rect. right main": "Big rect. left main", |
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"Small rect. left top": "Small rect. right bottom", |
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"Small rect. left bottom": "Small rect. right top", |
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"Small rect. left main": "Small rect. right main", |
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"Small rect. right top": "Small rect. left bottom", |
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"Small rect. right bottom": "Small rect. left top", |
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"Small rect. right main": "Small rect. left main", |
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"Circle left": "Circle right", |
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"Circle central": "Circle central", |
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"Circle right": "Circle left", |
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"Goal left crossbar": "Goal right crossbar", |
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"Goal left post left ": "Goal right post right", |
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"Goal left post right": "Goal right post left", |
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"Goal right crossbar": "Goal left crossbar", |
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"Goal right post left": "Goal left post right", |
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"Goal right post right": "Goal left post left ", |
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"Goal unknown": "Goal unknown", |
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"Line unknown": "Line unknown", |
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} |
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palette = { |
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"Big rect. left bottom": (127, 0, 0), |
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"Big rect. left main": (102, 102, 102), |
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"Big rect. left top": (0, 0, 127), |
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"Big rect. right bottom": (86, 32, 39), |
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"Big rect. right main": (48, 77, 0), |
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"Big rect. right top": (14, 97, 100), |
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"Circle central": (0, 0, 255), |
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"Circle left": (255, 127, 0), |
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"Circle right": (0, 255, 255), |
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"Goal left crossbar": (255, 255, 200), |
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"Goal left post left ": (165, 255, 0), |
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"Goal left post right": (155, 119, 45), |
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"Goal right crossbar": (86, 32, 139), |
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"Goal right post left": (196, 120, 153), |
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"Goal right post right": (166, 36, 52), |
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"Goal unknown": (0, 0, 0), |
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"Line unknown": (0, 0, 0), |
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"Middle line": (255, 255, 0), |
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"Side line bottom": (255, 0, 255), |
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"Side line left": (0, 255, 150), |
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"Side line right": (0, 230, 0), |
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"Side line top": (230, 0, 0), |
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"Small rect. left bottom": (0, 150, 255), |
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"Small rect. left main": (254, 173, 225), |
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"Small rect. left top": (87, 72, 39), |
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"Small rect. right bottom": (122, 0, 255), |
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"Small rect. right main": (128, 128, 128), |
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"Small rect. right top": (153, 23, 153), |
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} |
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def __init__(self, pitch_length=105.0, pitch_width=68.0): |
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""" |
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Initialize 3D coordinates of all elements of the soccer pitch. |
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:param pitch_length: According to FIFA rules, length belong to [90,120] meters |
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:param pitch_width: According to FIFA rules, length belong to [45,90] meters |
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""" |
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self.PITCH_LENGTH = pitch_length |
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self.PITCH_WIDTH = pitch_width |
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self.center_mark = np.array([0, 0, 0], dtype="float") |
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self.halfway_and_bottom_touch_line_mark = np.array([0, pitch_width / 2.0, 0], dtype="float") |
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self.halfway_and_top_touch_line_mark = np.array([0, -pitch_width / 2.0, 0], dtype="float") |
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self.halfway_line_and_center_circle_top_mark = np.array( |
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[0, -SoccerPitchSN.CENTER_CIRCLE_RADIUS, 0], dtype="float" |
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) |
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self.halfway_line_and_center_circle_bottom_mark = np.array( |
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[0, SoccerPitchSN.CENTER_CIRCLE_RADIUS, 0], dtype="float" |
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) |
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self.bottom_right_corner = np.array( |
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[pitch_length / 2.0, pitch_width / 2.0, 0], dtype="float" |
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) |
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self.bottom_left_corner = np.array( |
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[-pitch_length / 2.0, pitch_width / 2.0, 0], dtype="float" |
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) |
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self.top_right_corner = np.array([pitch_length / 2.0, -pitch_width / 2.0, 0], dtype="float") |
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self.top_left_corner = np.array([-pitch_length / 2.0, -34, 0], dtype="float") |
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self.left_goal_bottom_left_post = np.array( |
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[-pitch_length / 2.0, SoccerPitchSN.GOAL_LENGTH / 2.0, 0.0], dtype="float" |
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) |
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self.left_goal_top_left_post = np.array( |
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[-pitch_length / 2.0, SoccerPitchSN.GOAL_LENGTH / 2.0, -SoccerPitchSN.GOAL_HEIGHT], |
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dtype="float", |
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) |
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self.left_goal_bottom_right_post = np.array( |
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[-pitch_length / 2.0, -SoccerPitchSN.GOAL_LENGTH / 2.0, 0.0], dtype="float" |
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) |
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self.left_goal_top_right_post = np.array( |
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[-pitch_length / 2.0, -SoccerPitchSN.GOAL_LENGTH / 2.0, -SoccerPitchSN.GOAL_HEIGHT], |
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dtype="float", |
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) |
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self.right_goal_bottom_left_post = np.array( |
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[pitch_length / 2.0, -SoccerPitchSN.GOAL_LENGTH / 2.0, 0.0], dtype="float" |
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) |
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self.right_goal_top_left_post = np.array( |
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[pitch_length / 2.0, -SoccerPitchSN.GOAL_LENGTH / 2.0, -SoccerPitchSN.GOAL_HEIGHT], |
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dtype="float", |
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) |
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self.right_goal_bottom_right_post = np.array( |
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[pitch_length / 2.0, SoccerPitchSN.GOAL_LENGTH / 2.0, 0.0], dtype="float" |
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) |
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self.right_goal_top_right_post = np.array( |
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[pitch_length / 2.0, SoccerPitchSN.GOAL_LENGTH / 2.0, -SoccerPitchSN.GOAL_HEIGHT], |
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dtype="float", |
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) |
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self.left_penalty_mark = np.array( |
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[-pitch_length / 2.0 + SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK, 0, 0], dtype="float" |
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) |
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self.right_penalty_mark = np.array( |
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[pitch_length / 2.0 - SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK, 0, 0], dtype="float" |
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) |
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self.left_penalty_area_top_right_corner = np.array( |
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[ |
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-pitch_length / 2.0 + SoccerPitchSN.PENALTY_AREA_LENGTH, |
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-SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.left_penalty_area_top_left_corner = np.array( |
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[-pitch_length / 2.0, -SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.left_penalty_area_bottom_right_corner = np.array( |
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[ |
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-pitch_length / 2.0 + SoccerPitchSN.PENALTY_AREA_LENGTH, |
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SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.left_penalty_area_bottom_left_corner = np.array( |
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[-pitch_length / 2.0, SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_penalty_area_top_right_corner = np.array( |
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[pitch_length / 2.0, -SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_penalty_area_top_left_corner = np.array( |
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[ |
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pitch_length / 2.0 - SoccerPitchSN.PENALTY_AREA_LENGTH, |
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-SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.right_penalty_area_bottom_right_corner = np.array( |
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[pitch_length / 2.0, SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_penalty_area_bottom_left_corner = np.array( |
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[ |
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pitch_length / 2.0 - SoccerPitchSN.PENALTY_AREA_LENGTH, |
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SoccerPitchSN.PENALTY_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.left_goal_area_top_right_corner = np.array( |
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[ |
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-pitch_length / 2.0 + SoccerPitchSN.GOAL_AREA_LENGTH, |
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-SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.left_goal_area_top_left_corner = np.array( |
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[-pitch_length / 2.0, -SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.left_goal_area_bottom_right_corner = np.array( |
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[ |
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-pitch_length / 2.0 + SoccerPitchSN.GOAL_AREA_LENGTH, |
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SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.left_goal_area_bottom_left_corner = np.array( |
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[-pitch_length / 2.0, SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_goal_area_top_right_corner = np.array( |
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[pitch_length / 2.0, -SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_goal_area_top_left_corner = np.array( |
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[ |
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pitch_length / 2.0 - SoccerPitchSN.GOAL_AREA_LENGTH, |
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-SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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self.right_goal_area_bottom_right_corner = np.array( |
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[pitch_length / 2.0, SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, 0], dtype="float" |
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) |
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self.right_goal_area_bottom_left_corner = np.array( |
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[ |
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pitch_length / 2.0 - SoccerPitchSN.GOAL_AREA_LENGTH, |
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SoccerPitchSN.GOAL_AREA_WIDTH / 2.0, |
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0, |
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], |
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dtype="float", |
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) |
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x = -pitch_length / 2.0 + SoccerPitchSN.PENALTY_AREA_LENGTH |
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dx = SoccerPitchSN.PENALTY_AREA_LENGTH - SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK |
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y = -np.sqrt( |
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SoccerPitchSN.CENTER_CIRCLE_RADIUS * SoccerPitchSN.CENTER_CIRCLE_RADIUS - dx * dx |
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) |
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self.top_left_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
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x = pitch_length / 2.0 - SoccerPitchSN.PENALTY_AREA_LENGTH |
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dx = SoccerPitchSN.PENALTY_AREA_LENGTH - SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK |
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y = -np.sqrt( |
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SoccerPitchSN.CENTER_CIRCLE_RADIUS * SoccerPitchSN.CENTER_CIRCLE_RADIUS - dx * dx |
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) |
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self.top_right_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
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x = -pitch_length / 2.0 + SoccerPitchSN.PENALTY_AREA_LENGTH |
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dx = SoccerPitchSN.PENALTY_AREA_LENGTH - SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK |
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y = np.sqrt( |
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SoccerPitchSN.CENTER_CIRCLE_RADIUS * SoccerPitchSN.CENTER_CIRCLE_RADIUS - dx * dx |
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) |
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self.bottom_left_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
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x = pitch_length / 2.0 - SoccerPitchSN.PENALTY_AREA_LENGTH |
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dx = SoccerPitchSN.PENALTY_AREA_LENGTH - SoccerPitchSN.GOAL_LINE_TO_PENALTY_MARK |
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y = np.sqrt( |
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SoccerPitchSN.CENTER_CIRCLE_RADIUS * SoccerPitchSN.CENTER_CIRCLE_RADIUS - dx * dx |
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) |
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self.bottom_right_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
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self.point_dict = {} |
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self.point_dict["CENTER_MARK"] = self.center_mark |
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self.point_dict["L_PENALTY_MARK"] = self.left_penalty_mark |
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self.point_dict["R_PENALTY_MARK"] = self.right_penalty_mark |
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self.point_dict["TL_PITCH_CORNER"] = self.top_left_corner |
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self.point_dict["BL_PITCH_CORNER"] = self.bottom_left_corner |
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self.point_dict["TR_PITCH_CORNER"] = self.top_right_corner |
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self.point_dict["BR_PITCH_CORNER"] = self.bottom_right_corner |
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self.point_dict["L_PENALTY_AREA_TL_CORNER"] = self.left_penalty_area_top_left_corner |
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self.point_dict["L_PENALTY_AREA_TR_CORNER"] = self.left_penalty_area_top_right_corner |
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self.point_dict["L_PENALTY_AREA_BL_CORNER"] = self.left_penalty_area_bottom_left_corner |
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self.point_dict["L_PENALTY_AREA_BR_CORNER"] = self.left_penalty_area_bottom_right_corner |
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self.point_dict["R_PENALTY_AREA_TL_CORNER"] = self.right_penalty_area_top_left_corner |
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self.point_dict["R_PENALTY_AREA_TR_CORNER"] = self.right_penalty_area_top_right_corner |
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self.point_dict["R_PENALTY_AREA_BL_CORNER"] = self.right_penalty_area_bottom_left_corner |
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self.point_dict["R_PENALTY_AREA_BR_CORNER"] = self.right_penalty_area_bottom_right_corner |
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self.point_dict["L_GOAL_AREA_TL_CORNER"] = self.left_goal_area_top_left_corner |
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self.point_dict["L_GOAL_AREA_TR_CORNER"] = self.left_goal_area_top_right_corner |
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self.point_dict["L_GOAL_AREA_BL_CORNER"] = self.left_goal_area_bottom_left_corner |
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self.point_dict["L_GOAL_AREA_BR_CORNER"] = self.left_goal_area_bottom_right_corner |
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self.point_dict["R_GOAL_AREA_TL_CORNER"] = self.right_goal_area_top_left_corner |
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self.point_dict["R_GOAL_AREA_TR_CORNER"] = self.right_goal_area_top_right_corner |
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self.point_dict["R_GOAL_AREA_BL_CORNER"] = self.right_goal_area_bottom_left_corner |
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self.point_dict["R_GOAL_AREA_BR_CORNER"] = self.right_goal_area_bottom_right_corner |
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self.point_dict["L_GOAL_TL_POST"] = self.left_goal_top_left_post |
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self.point_dict["L_GOAL_TR_POST"] = self.left_goal_top_right_post |
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self.point_dict["L_GOAL_BL_POST"] = self.left_goal_bottom_left_post |
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self.point_dict["L_GOAL_BR_POST"] = self.left_goal_bottom_right_post |
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self.point_dict["R_GOAL_TL_POST"] = self.right_goal_top_left_post |
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self.point_dict["R_GOAL_TR_POST"] = self.right_goal_top_right_post |
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self.point_dict["R_GOAL_BL_POST"] = self.right_goal_bottom_left_post |
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self.point_dict["R_GOAL_BR_POST"] = self.right_goal_bottom_right_post |
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self.point_dict[ |
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"T_TOUCH_AND_HALFWAY_LINES_INTERSECTION" |
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] = self.halfway_and_top_touch_line_mark |
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self.point_dict[ |
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"B_TOUCH_AND_HALFWAY_LINES_INTERSECTION" |
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] = self.halfway_and_bottom_touch_line_mark |
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self.point_dict[ |
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"T_HALFWAY_LINE_AND_CENTER_CIRCLE_INTERSECTION" |
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] = self.halfway_line_and_center_circle_top_mark |
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self.point_dict[ |
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"B_HALFWAY_LINE_AND_CENTER_CIRCLE_INTERSECTION" |
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] = self.halfway_line_and_center_circle_bottom_mark |
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self.point_dict[ |
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"TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
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] = self.top_left_16M_penalty_arc_mark |
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self.point_dict[ |
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"BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
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] = self.bottom_left_16M_penalty_arc_mark |
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self.point_dict[ |
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"TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
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] = self.top_right_16M_penalty_arc_mark |
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self.point_dict[ |
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"BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
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] = self.bottom_right_16M_penalty_arc_mark |
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self.line_extremities = dict() |
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self.line_extremities["Big rect. left bottom"] = ( |
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self.point_dict["L_PENALTY_AREA_BL_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. left top"] = ( |
|
|
self.point_dict["L_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. left main"] = ( |
|
|
self.point_dict["L_PENALTY_AREA_TR_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right bottom"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_BL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right top"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right main"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_BL_CORNER"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Small rect. left bottom"] = ( |
|
|
self.point_dict["L_GOAL_AREA_BL_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. left top"] = ( |
|
|
self.point_dict["L_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. left main"] = ( |
|
|
self.point_dict["L_GOAL_AREA_TR_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right bottom"] = ( |
|
|
self.point_dict["R_GOAL_AREA_BL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right top"] = ( |
|
|
self.point_dict["R_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right main"] = ( |
|
|
self.point_dict["R_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_BL_CORNER"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Side line top"] = ( |
|
|
self.point_dict["TL_PITCH_CORNER"], |
|
|
self.point_dict["TR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line bottom"] = ( |
|
|
self.point_dict["BL_PITCH_CORNER"], |
|
|
self.point_dict["BR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line left"] = ( |
|
|
self.point_dict["TL_PITCH_CORNER"], |
|
|
self.point_dict["BL_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line right"] = ( |
|
|
self.point_dict["TR_PITCH_CORNER"], |
|
|
self.point_dict["BR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Middle line"] = ( |
|
|
self.point_dict["T_TOUCH_AND_HALFWAY_LINES_INTERSECTION"], |
|
|
self.point_dict["B_TOUCH_AND_HALFWAY_LINES_INTERSECTION"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Goal left crossbar"] = ( |
|
|
self.point_dict["L_GOAL_TR_POST"], |
|
|
self.point_dict["L_GOAL_TL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal left post left "] = ( |
|
|
self.point_dict["L_GOAL_TL_POST"], |
|
|
self.point_dict["L_GOAL_BL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal left post right"] = ( |
|
|
self.point_dict["L_GOAL_TR_POST"], |
|
|
self.point_dict["L_GOAL_BR_POST"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Goal right crossbar"] = ( |
|
|
self.point_dict["R_GOAL_TL_POST"], |
|
|
self.point_dict["R_GOAL_TR_POST"], |
|
|
) |
|
|
self.line_extremities["Goal right post left"] = ( |
|
|
self.point_dict["R_GOAL_TL_POST"], |
|
|
self.point_dict["R_GOAL_BL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal right post right"] = ( |
|
|
self.point_dict["R_GOAL_TR_POST"], |
|
|
self.point_dict["R_GOAL_BR_POST"], |
|
|
) |
|
|
self.line_extremities["Circle right"] = ( |
|
|
self.point_dict["TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
self.point_dict["BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
) |
|
|
self.line_extremities["Circle left"] = ( |
|
|
self.point_dict["TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
self.point_dict["BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
) |
|
|
|
|
|
self.line_extremities_keys = dict() |
|
|
self.line_extremities_keys["Big rect. left bottom"] = ( |
|
|
"L_PENALTY_AREA_BL_CORNER", |
|
|
"L_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. left top"] = ( |
|
|
"L_PENALTY_AREA_TL_CORNER", |
|
|
"L_PENALTY_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. left main"] = ( |
|
|
"L_PENALTY_AREA_TR_CORNER", |
|
|
"L_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right bottom"] = ( |
|
|
"R_PENALTY_AREA_BL_CORNER", |
|
|
"R_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right top"] = ( |
|
|
"R_PENALTY_AREA_TL_CORNER", |
|
|
"R_PENALTY_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right main"] = ( |
|
|
"R_PENALTY_AREA_TL_CORNER", |
|
|
"R_PENALTY_AREA_BL_CORNER", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Small rect. left bottom"] = ( |
|
|
"L_GOAL_AREA_BL_CORNER", |
|
|
"L_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. left top"] = ( |
|
|
"L_GOAL_AREA_TL_CORNER", |
|
|
"L_GOAL_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. left main"] = ( |
|
|
"L_GOAL_AREA_TR_CORNER", |
|
|
"L_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right bottom"] = ( |
|
|
"R_GOAL_AREA_BL_CORNER", |
|
|
"R_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right top"] = ( |
|
|
"R_GOAL_AREA_TL_CORNER", |
|
|
"R_GOAL_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right main"] = ( |
|
|
"R_GOAL_AREA_TL_CORNER", |
|
|
"R_GOAL_AREA_BL_CORNER", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Side line top"] = ("TL_PITCH_CORNER", "TR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line bottom"] = ("BL_PITCH_CORNER", "BR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line left"] = ("TL_PITCH_CORNER", "BL_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line right"] = ("TR_PITCH_CORNER", "BR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Middle line"] = ( |
|
|
"T_TOUCH_AND_HALFWAY_LINES_INTERSECTION", |
|
|
"B_TOUCH_AND_HALFWAY_LINES_INTERSECTION", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Goal left crossbar"] = ("L_GOAL_TR_POST", "L_GOAL_TL_POST") |
|
|
self.line_extremities_keys["Goal left post left "] = ("L_GOAL_TL_POST", "L_GOAL_BL_POST") |
|
|
self.line_extremities_keys["Goal left post right"] = ("L_GOAL_TR_POST", "L_GOAL_BR_POST") |
|
|
|
|
|
self.line_extremities_keys["Goal right crossbar"] = ("R_GOAL_TL_POST", "R_GOAL_TR_POST") |
|
|
self.line_extremities_keys["Goal right post left"] = ("R_GOAL_TL_POST", "R_GOAL_BL_POST") |
|
|
self.line_extremities_keys["Goal right post right"] = ("R_GOAL_TR_POST", "R_GOAL_BR_POST") |
|
|
self.line_extremities_keys["Circle right"] = ( |
|
|
"TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
"BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
) |
|
|
self.line_extremities_keys["Circle left"] = ( |
|
|
"TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
"BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
) |
|
|
|
|
|
def points(self): |
|
|
return [ |
|
|
self.center_mark, |
|
|
self.halfway_and_bottom_touch_line_mark, |
|
|
self.halfway_and_top_touch_line_mark, |
|
|
self.halfway_line_and_center_circle_top_mark, |
|
|
self.halfway_line_and_center_circle_bottom_mark, |
|
|
self.bottom_right_corner, |
|
|
self.bottom_left_corner, |
|
|
self.top_right_corner, |
|
|
self.top_left_corner, |
|
|
self.left_penalty_mark, |
|
|
self.right_penalty_mark, |
|
|
self.left_penalty_area_top_right_corner, |
|
|
self.left_penalty_area_top_left_corner, |
|
|
self.left_penalty_area_bottom_right_corner, |
|
|
self.left_penalty_area_bottom_left_corner, |
|
|
self.right_penalty_area_top_right_corner, |
|
|
self.right_penalty_area_top_left_corner, |
|
|
self.right_penalty_area_bottom_right_corner, |
|
|
self.right_penalty_area_bottom_left_corner, |
|
|
self.left_goal_area_top_right_corner, |
|
|
self.left_goal_area_top_left_corner, |
|
|
self.left_goal_area_bottom_right_corner, |
|
|
self.left_goal_area_bottom_left_corner, |
|
|
self.right_goal_area_top_right_corner, |
|
|
self.right_goal_area_top_left_corner, |
|
|
self.right_goal_area_bottom_right_corner, |
|
|
self.right_goal_area_bottom_left_corner, |
|
|
self.top_left_16M_penalty_arc_mark, |
|
|
self.top_right_16M_penalty_arc_mark, |
|
|
self.bottom_left_16M_penalty_arc_mark, |
|
|
self.bottom_right_16M_penalty_arc_mark, |
|
|
self.left_goal_top_left_post, |
|
|
self.left_goal_top_right_post, |
|
|
self.left_goal_bottom_left_post, |
|
|
self.left_goal_bottom_right_post, |
|
|
self.right_goal_top_left_post, |
|
|
self.right_goal_top_right_post, |
|
|
self.right_goal_bottom_left_post, |
|
|
self.right_goal_bottom_right_post, |
|
|
] |
|
|
|
|
|
def sample_field_points(self, dist=0.1, dist_circles=0.2): |
|
|
""" |
|
|
Samples each pitch element every dist meters, returns a dictionary associating the class of the element with a list of points sampled along this element. |
|
|
:param dist: the distance in meters between each point sampled |
|
|
:param dist_circles: the distance in meters between each point sampled on circles |
|
|
:return: a dictionary associating the class of the element with a list of points sampled along this element. |
|
|
""" |
|
|
polylines = dict() |
|
|
center = self.point_dict["CENTER_MARK"] |
|
|
fromAngle = 0.0 |
|
|
toAngle = 2 * np.pi |
|
|
|
|
|
if toAngle < fromAngle: |
|
|
toAngle += 2 * np.pi |
|
|
x1 = center[0] + np.cos(fromAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
y1 = center[1] + np.sin(fromAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
z1 = 0.0 |
|
|
point = np.array((x1, y1, z1)) |
|
|
polyline = [point] |
|
|
length = SoccerPitchSN.CENTER_CIRCLE_RADIUS * (toAngle - fromAngle) |
|
|
nb_pts = int(length / dist_circles) |
|
|
dangle = dist_circles / SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
for i in range(1, nb_pts): |
|
|
angle = fromAngle + i * dangle |
|
|
x = center[0] + np.cos(angle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
y = center[1] + np.sin(angle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
z = 0 |
|
|
point = np.array((x, y, z)) |
|
|
polyline.append(point) |
|
|
polylines["Circle central"] = polyline |
|
|
for key, line in self.line_extremities.items(): |
|
|
|
|
|
if "Circle" in key: |
|
|
if key == "Circle right": |
|
|
top = self.point_dict["TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
bottom = self.point_dict["BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
center = self.point_dict["R_PENALTY_MARK"] |
|
|
toAngle = np.arctan2(top[1] - center[1], top[0] - center[0]) + 2 * np.pi |
|
|
fromAngle = np.arctan2(bottom[1] - center[1], bottom[0] - center[0]) + 2 * np.pi |
|
|
elif key == "Circle left": |
|
|
top = self.point_dict["TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
bottom = self.point_dict["BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
center = self.point_dict["L_PENALTY_MARK"] |
|
|
fromAngle = np.arctan2(top[1] - center[1], top[0] - center[0]) + 2 * np.pi |
|
|
toAngle = np.arctan2(bottom[1] - center[1], bottom[0] - center[0]) + 2 * np.pi |
|
|
if toAngle < fromAngle: |
|
|
toAngle += 2 * np.pi |
|
|
x1 = center[0] + np.cos(fromAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
y1 = center[1] + np.sin(fromAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
z1 = 0.0 |
|
|
xn = center[0] + np.cos(toAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
yn = center[1] + np.sin(toAngle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
zn = 0.0 |
|
|
start = np.array((x1, y1, z1)) |
|
|
end = np.array((xn, yn, zn)) |
|
|
polyline = [start] |
|
|
length = SoccerPitchSN.CENTER_CIRCLE_RADIUS * (toAngle - fromAngle) |
|
|
nb_pts = int(length / dist_circles) |
|
|
dangle = dist_circles / SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
for i in range(1, nb_pts + 1): |
|
|
angle = fromAngle + i * dangle |
|
|
x = center[0] + np.cos(angle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
y = center[1] + np.sin(angle) * SoccerPitchSN.CENTER_CIRCLE_RADIUS |
|
|
z = 0 |
|
|
point = np.array((x, y, z)) |
|
|
polyline.append(point) |
|
|
polyline.append(end) |
|
|
polylines[key] = polyline |
|
|
else: |
|
|
start = line[0] |
|
|
end = line[1] |
|
|
|
|
|
polyline = [start] |
|
|
|
|
|
total_dist = np.sqrt(np.sum(np.square(start - end))) |
|
|
nb_pts = int(total_dist / dist - 1) |
|
|
|
|
|
v = end - start |
|
|
v /= np.linalg.norm(v) |
|
|
prev_pt = start |
|
|
for i in range(nb_pts): |
|
|
pt = prev_pt + dist * v |
|
|
prev_pt = pt |
|
|
polyline.append(pt) |
|
|
polyline.append(end) |
|
|
polylines[key] = polyline |
|
|
return polylines |
|
|
|
|
|
def get_2d_homogeneous_line(self, line_name): |
|
|
""" |
|
|
For lines belonging to the pitch lawn plane returns its 2D homogenous equation coefficients |
|
|
:param line_name |
|
|
:return: an array containing the three coefficients of the line |
|
|
""" |
|
|
|
|
|
if ( |
|
|
line_name in self.line_extremities.keys() |
|
|
and "post" not in line_name |
|
|
and "crossbar" not in line_name |
|
|
and "Circle" not in line_name |
|
|
): |
|
|
extremities = self.line_extremities[line_name] |
|
|
p1 = np.array([extremities[0][0], extremities[0][1], 1], dtype="float") |
|
|
p2 = np.array([extremities[1][0], extremities[1][1], 1], dtype="float") |
|
|
line = np.cross(p1, p2) |
|
|
|
|
|
return line |
|
|
return None |
|
|
|
|
|
|
|
|
class SoccerPitchSNCircleCentralSplit: |
|
|
"""Static class variables that are specified by the rules of the game""" |
|
|
|
|
|
GOAL_LINE_TO_PENALTY_MARK = 11.0 |
|
|
PENALTY_AREA_WIDTH = 40.32 |
|
|
PENALTY_AREA_LENGTH = 16.5 |
|
|
GOAL_AREA_WIDTH = 18.32 |
|
|
GOAL_AREA_LENGTH = 5.5 |
|
|
CENTER_CIRCLE_RADIUS = 9.15 |
|
|
GOAL_HEIGHT = 2.44 |
|
|
GOAL_LENGTH = 7.32 |
|
|
|
|
|
lines_classes = [ |
|
|
"Big rect. left bottom", |
|
|
"Big rect. left main", |
|
|
"Big rect. left top", |
|
|
"Big rect. right bottom", |
|
|
"Big rect. right main", |
|
|
"Big rect. right top", |
|
|
"Circle central left", |
|
|
"Circle central right", |
|
|
"Circle left", |
|
|
"Circle right", |
|
|
"Goal left crossbar", |
|
|
"Goal left post left ", |
|
|
"Goal left post right", |
|
|
"Goal right crossbar", |
|
|
"Goal right post left", |
|
|
"Goal right post right", |
|
|
"Goal unknown", |
|
|
"Line unknown", |
|
|
"Middle line", |
|
|
"Side line bottom", |
|
|
"Side line left", |
|
|
"Side line right", |
|
|
"Side line top", |
|
|
"Small rect. left bottom", |
|
|
"Small rect. left main", |
|
|
"Small rect. left top", |
|
|
"Small rect. right bottom", |
|
|
"Small rect. right main", |
|
|
"Small rect. right top", |
|
|
] |
|
|
|
|
|
symetric_classes = { |
|
|
"Side line top": "Side line bottom", |
|
|
"Side line bottom": "Side line top", |
|
|
"Side line left": "Side line right", |
|
|
"Middle line": "Middle line", |
|
|
"Side line right": "Side line left", |
|
|
"Big rect. left top": "Big rect. right bottom", |
|
|
"Big rect. left bottom": "Big rect. right top", |
|
|
"Big rect. left main": "Big rect. right main", |
|
|
"Big rect. right top": "Big rect. left bottom", |
|
|
"Big rect. right bottom": "Big rect. left top", |
|
|
"Big rect. right main": "Big rect. left main", |
|
|
"Small rect. left top": "Small rect. right bottom", |
|
|
"Small rect. left bottom": "Small rect. right top", |
|
|
"Small rect. left main": "Small rect. right main", |
|
|
"Small rect. right top": "Small rect. left bottom", |
|
|
"Small rect. right bottom": "Small rect. left top", |
|
|
"Small rect. right main": "Small rect. left main", |
|
|
"Circle left": "Circle right", |
|
|
"Circle central left": "Circle central right", |
|
|
"Circle central right": "Circle central left", |
|
|
"Circle right": "Circle left", |
|
|
"Goal left crossbar": "Goal right crossbar", |
|
|
"Goal left post left ": "Goal right post right", |
|
|
"Goal left post right": "Goal right post left", |
|
|
"Goal right crossbar": "Goal left crossbar", |
|
|
"Goal right post left": "Goal left post right", |
|
|
"Goal right post right": "Goal left post left ", |
|
|
"Goal unknown": "Goal unknown", |
|
|
"Line unknown": "Line unknown", |
|
|
} |
|
|
|
|
|
|
|
|
palette = { |
|
|
"Big rect. left bottom": (127, 0, 0), |
|
|
"Big rect. left main": (102, 102, 102), |
|
|
"Big rect. left top": (0, 0, 127), |
|
|
"Big rect. right bottom": (86, 32, 39), |
|
|
"Big rect. right main": (48, 77, 0), |
|
|
"Big rect. right top": (14, 97, 100), |
|
|
"Circle central left": (0, 0, 255), |
|
|
"Circle central right": (0, 255, 0), |
|
|
"Circle left": (255, 127, 0), |
|
|
"Circle right": (0, 255, 255), |
|
|
"Goal left crossbar": (255, 255, 200), |
|
|
"Goal left post left ": (165, 255, 0), |
|
|
"Goal left post right": (155, 119, 45), |
|
|
"Goal right crossbar": (86, 32, 139), |
|
|
"Goal right post left": (196, 120, 153), |
|
|
"Goal right post right": (166, 36, 52), |
|
|
"Goal unknown": (0, 0, 0), |
|
|
"Line unknown": (0, 0, 0), |
|
|
"Middle line": (255, 255, 0), |
|
|
"Side line bottom": (255, 0, 255), |
|
|
"Side line left": (0, 255, 150), |
|
|
"Side line right": (0, 230, 0), |
|
|
"Side line top": (230, 0, 0), |
|
|
"Small rect. left bottom": (0, 150, 255), |
|
|
"Small rect. left main": (254, 173, 225), |
|
|
"Small rect. left top": (87, 72, 39), |
|
|
"Small rect. right bottom": (122, 0, 255), |
|
|
"Small rect. right main": (255, 255, 255), |
|
|
"Small rect. right top": (153, 23, 153), |
|
|
} |
|
|
|
|
|
def __init__(self, pitch_length=105.0, pitch_width=68.0): |
|
|
""" |
|
|
Initialize 3D coordinates of all elements of the soccer pitch. |
|
|
:param pitch_length: According to FIFA rules, length belong to [90,120] meters |
|
|
:param pitch_width: According to FIFA rules, length belong to [45,90] meters |
|
|
""" |
|
|
self.PITCH_LENGTH = pitch_length |
|
|
self.PITCH_WIDTH = pitch_width |
|
|
|
|
|
self.center_mark = np.array([0, 0, 0], dtype="float") |
|
|
self.halfway_and_bottom_touch_line_mark = np.array([0, pitch_width / 2.0, 0], dtype="float") |
|
|
self.halfway_and_top_touch_line_mark = np.array([0, -pitch_width / 2.0, 0], dtype="float") |
|
|
self.halfway_line_and_center_circle_top_mark = np.array( |
|
|
[0, -SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS, 0], dtype="float" |
|
|
) |
|
|
self.halfway_line_and_center_circle_bottom_mark = np.array( |
|
|
[0, SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS, 0], dtype="float" |
|
|
) |
|
|
self.bottom_right_corner = np.array( |
|
|
[pitch_length / 2.0, pitch_width / 2.0, 0], dtype="float" |
|
|
) |
|
|
self.bottom_left_corner = np.array( |
|
|
[-pitch_length / 2.0, pitch_width / 2.0, 0], dtype="float" |
|
|
) |
|
|
self.top_right_corner = np.array([pitch_length / 2.0, -pitch_width / 2.0, 0], dtype="float") |
|
|
self.top_left_corner = np.array([-pitch_length / 2.0, -34, 0], dtype="float") |
|
|
|
|
|
self.left_goal_bottom_left_post = np.array( |
|
|
[-pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, 0.0], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_top_left_post = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0, |
|
|
SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_HEIGHT, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_bottom_right_post = np.array( |
|
|
[-pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, 0.0], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_top_right_post = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_HEIGHT, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
|
|
|
self.right_goal_bottom_left_post = np.array( |
|
|
[pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, 0.0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_top_left_post = np.array( |
|
|
[ |
|
|
pitch_length / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_HEIGHT, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_bottom_right_post = np.array( |
|
|
[pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, 0.0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_top_right_post = np.array( |
|
|
[ |
|
|
pitch_length / 2.0, |
|
|
SoccerPitchSNCircleCentralSplit.GOAL_LENGTH / 2.0, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_HEIGHT, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
|
|
|
self.left_penalty_mark = np.array( |
|
|
[-pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK, 0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_penalty_mark = np.array( |
|
|
[pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK, 0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
|
|
|
self.left_penalty_area_top_right_corner = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH, |
|
|
-SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_penalty_area_top_left_corner = np.array( |
|
|
[-pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_penalty_area_bottom_right_corner = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH, |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_penalty_area_bottom_left_corner = np.array( |
|
|
[-pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_penalty_area_top_right_corner = np.array( |
|
|
[pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_penalty_area_top_left_corner = np.array( |
|
|
[ |
|
|
pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH, |
|
|
-SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_penalty_area_bottom_right_corner = np.array( |
|
|
[pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_penalty_area_bottom_left_corner = np.array( |
|
|
[ |
|
|
pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH, |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
|
|
|
self.left_goal_area_top_right_corner = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.GOAL_AREA_LENGTH, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_area_top_left_corner = np.array( |
|
|
[-pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_area_bottom_right_corner = np.array( |
|
|
[ |
|
|
-pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.GOAL_AREA_LENGTH, |
|
|
SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.left_goal_area_bottom_left_corner = np.array( |
|
|
[-pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_area_top_right_corner = np.array( |
|
|
[pitch_length / 2.0, -SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_area_top_left_corner = np.array( |
|
|
[ |
|
|
pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.GOAL_AREA_LENGTH, |
|
|
-SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_area_bottom_right_corner = np.array( |
|
|
[pitch_length / 2.0, SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, 0], |
|
|
dtype="float", |
|
|
) |
|
|
self.right_goal_area_bottom_left_corner = np.array( |
|
|
[ |
|
|
pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.GOAL_AREA_LENGTH, |
|
|
SoccerPitchSNCircleCentralSplit.GOAL_AREA_WIDTH / 2.0, |
|
|
0, |
|
|
], |
|
|
dtype="float", |
|
|
) |
|
|
|
|
|
x = -pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
dx = ( |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
- SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK |
|
|
) |
|
|
y = -np.sqrt( |
|
|
SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
* SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
- dx * dx |
|
|
) |
|
|
self.top_left_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
|
|
|
|
|
x = pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
dx = ( |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
- SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK |
|
|
) |
|
|
y = -np.sqrt( |
|
|
SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
* SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
- dx * dx |
|
|
) |
|
|
self.top_right_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
|
|
|
|
|
x = -pitch_length / 2.0 + SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
dx = ( |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
- SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK |
|
|
) |
|
|
y = np.sqrt( |
|
|
SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
* SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
- dx * dx |
|
|
) |
|
|
self.bottom_left_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
|
|
|
|
|
x = pitch_length / 2.0 - SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
dx = ( |
|
|
SoccerPitchSNCircleCentralSplit.PENALTY_AREA_LENGTH |
|
|
- SoccerPitchSNCircleCentralSplit.GOAL_LINE_TO_PENALTY_MARK |
|
|
) |
|
|
y = np.sqrt( |
|
|
SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
* SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
- dx * dx |
|
|
) |
|
|
self.bottom_right_16M_penalty_arc_mark = np.array([x, y, 0], dtype="float") |
|
|
|
|
|
|
|
|
|
|
|
self.point_dict = {} |
|
|
self.point_dict["CENTER_MARK"] = self.center_mark |
|
|
self.point_dict["L_PENALTY_MARK"] = self.left_penalty_mark |
|
|
self.point_dict["R_PENALTY_MARK"] = self.right_penalty_mark |
|
|
self.point_dict["TL_PITCH_CORNER"] = self.top_left_corner |
|
|
self.point_dict["BL_PITCH_CORNER"] = self.bottom_left_corner |
|
|
self.point_dict["TR_PITCH_CORNER"] = self.top_right_corner |
|
|
self.point_dict["BR_PITCH_CORNER"] = self.bottom_right_corner |
|
|
self.point_dict["L_PENALTY_AREA_TL_CORNER"] = self.left_penalty_area_top_left_corner |
|
|
self.point_dict["L_PENALTY_AREA_TR_CORNER"] = self.left_penalty_area_top_right_corner |
|
|
self.point_dict["L_PENALTY_AREA_BL_CORNER"] = self.left_penalty_area_bottom_left_corner |
|
|
self.point_dict["L_PENALTY_AREA_BR_CORNER"] = self.left_penalty_area_bottom_right_corner |
|
|
|
|
|
self.point_dict["R_PENALTY_AREA_TL_CORNER"] = self.right_penalty_area_top_left_corner |
|
|
self.point_dict["R_PENALTY_AREA_TR_CORNER"] = self.right_penalty_area_top_right_corner |
|
|
self.point_dict["R_PENALTY_AREA_BL_CORNER"] = self.right_penalty_area_bottom_left_corner |
|
|
self.point_dict["R_PENALTY_AREA_BR_CORNER"] = self.right_penalty_area_bottom_right_corner |
|
|
|
|
|
self.point_dict["L_GOAL_AREA_TL_CORNER"] = self.left_goal_area_top_left_corner |
|
|
self.point_dict["L_GOAL_AREA_TR_CORNER"] = self.left_goal_area_top_right_corner |
|
|
self.point_dict["L_GOAL_AREA_BL_CORNER"] = self.left_goal_area_bottom_left_corner |
|
|
self.point_dict["L_GOAL_AREA_BR_CORNER"] = self.left_goal_area_bottom_right_corner |
|
|
|
|
|
self.point_dict["R_GOAL_AREA_TL_CORNER"] = self.right_goal_area_top_left_corner |
|
|
self.point_dict["R_GOAL_AREA_TR_CORNER"] = self.right_goal_area_top_right_corner |
|
|
self.point_dict["R_GOAL_AREA_BL_CORNER"] = self.right_goal_area_bottom_left_corner |
|
|
self.point_dict["R_GOAL_AREA_BR_CORNER"] = self.right_goal_area_bottom_right_corner |
|
|
|
|
|
self.point_dict["L_GOAL_TL_POST"] = self.left_goal_top_left_post |
|
|
self.point_dict["L_GOAL_TR_POST"] = self.left_goal_top_right_post |
|
|
self.point_dict["L_GOAL_BL_POST"] = self.left_goal_bottom_left_post |
|
|
self.point_dict["L_GOAL_BR_POST"] = self.left_goal_bottom_right_post |
|
|
|
|
|
self.point_dict["R_GOAL_TL_POST"] = self.right_goal_top_left_post |
|
|
self.point_dict["R_GOAL_TR_POST"] = self.right_goal_top_right_post |
|
|
self.point_dict["R_GOAL_BL_POST"] = self.right_goal_bottom_left_post |
|
|
self.point_dict["R_GOAL_BR_POST"] = self.right_goal_bottom_right_post |
|
|
|
|
|
self.point_dict[ |
|
|
"T_TOUCH_AND_HALFWAY_LINES_INTERSECTION" |
|
|
] = self.halfway_and_top_touch_line_mark |
|
|
self.point_dict[ |
|
|
"B_TOUCH_AND_HALFWAY_LINES_INTERSECTION" |
|
|
] = self.halfway_and_bottom_touch_line_mark |
|
|
self.point_dict[ |
|
|
"T_HALFWAY_LINE_AND_CENTER_CIRCLE_INTERSECTION" |
|
|
] = self.halfway_line_and_center_circle_top_mark |
|
|
self.point_dict[ |
|
|
"B_HALFWAY_LINE_AND_CENTER_CIRCLE_INTERSECTION" |
|
|
] = self.halfway_line_and_center_circle_bottom_mark |
|
|
self.point_dict[ |
|
|
"TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
|
|
] = self.top_left_16M_penalty_arc_mark |
|
|
self.point_dict[ |
|
|
"BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
|
|
] = self.bottom_left_16M_penalty_arc_mark |
|
|
self.point_dict[ |
|
|
"TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
|
|
] = self.top_right_16M_penalty_arc_mark |
|
|
self.point_dict[ |
|
|
"BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION" |
|
|
] = self.bottom_right_16M_penalty_arc_mark |
|
|
|
|
|
self.line_extremities = dict() |
|
|
self.line_extremities["Big rect. left bottom"] = ( |
|
|
self.point_dict["L_PENALTY_AREA_BL_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. left top"] = ( |
|
|
self.point_dict["L_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. left main"] = ( |
|
|
self.point_dict["L_PENALTY_AREA_TR_CORNER"], |
|
|
self.point_dict["L_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right bottom"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_BL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right top"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Big rect. right main"] = ( |
|
|
self.point_dict["R_PENALTY_AREA_TL_CORNER"], |
|
|
self.point_dict["R_PENALTY_AREA_BL_CORNER"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Small rect. left bottom"] = ( |
|
|
self.point_dict["L_GOAL_AREA_BL_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. left top"] = ( |
|
|
self.point_dict["L_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. left main"] = ( |
|
|
self.point_dict["L_GOAL_AREA_TR_CORNER"], |
|
|
self.point_dict["L_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right bottom"] = ( |
|
|
self.point_dict["R_GOAL_AREA_BL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_BR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right top"] = ( |
|
|
self.point_dict["R_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_TR_CORNER"], |
|
|
) |
|
|
self.line_extremities["Small rect. right main"] = ( |
|
|
self.point_dict["R_GOAL_AREA_TL_CORNER"], |
|
|
self.point_dict["R_GOAL_AREA_BL_CORNER"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Side line top"] = ( |
|
|
self.point_dict["TL_PITCH_CORNER"], |
|
|
self.point_dict["TR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line bottom"] = ( |
|
|
self.point_dict["BL_PITCH_CORNER"], |
|
|
self.point_dict["BR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line left"] = ( |
|
|
self.point_dict["TL_PITCH_CORNER"], |
|
|
self.point_dict["BL_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Side line right"] = ( |
|
|
self.point_dict["TR_PITCH_CORNER"], |
|
|
self.point_dict["BR_PITCH_CORNER"], |
|
|
) |
|
|
self.line_extremities["Middle line"] = ( |
|
|
self.point_dict["T_TOUCH_AND_HALFWAY_LINES_INTERSECTION"], |
|
|
self.point_dict["B_TOUCH_AND_HALFWAY_LINES_INTERSECTION"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Goal left crossbar"] = ( |
|
|
self.point_dict["L_GOAL_TR_POST"], |
|
|
self.point_dict["L_GOAL_TL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal left post left "] = ( |
|
|
self.point_dict["L_GOAL_TL_POST"], |
|
|
self.point_dict["L_GOAL_BL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal left post right"] = ( |
|
|
self.point_dict["L_GOAL_TR_POST"], |
|
|
self.point_dict["L_GOAL_BR_POST"], |
|
|
) |
|
|
|
|
|
self.line_extremities["Goal right crossbar"] = ( |
|
|
self.point_dict["R_GOAL_TL_POST"], |
|
|
self.point_dict["R_GOAL_TR_POST"], |
|
|
) |
|
|
self.line_extremities["Goal right post left"] = ( |
|
|
self.point_dict["R_GOAL_TL_POST"], |
|
|
self.point_dict["R_GOAL_BL_POST"], |
|
|
) |
|
|
self.line_extremities["Goal right post right"] = ( |
|
|
self.point_dict["R_GOAL_TR_POST"], |
|
|
self.point_dict["R_GOAL_BR_POST"], |
|
|
) |
|
|
self.line_extremities["Circle right"] = ( |
|
|
self.point_dict["TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
self.point_dict["BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
) |
|
|
self.line_extremities["Circle left"] = ( |
|
|
self.point_dict["TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
self.point_dict["BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"], |
|
|
) |
|
|
|
|
|
self.line_extremities_keys = dict() |
|
|
self.line_extremities_keys["Big rect. left bottom"] = ( |
|
|
"L_PENALTY_AREA_BL_CORNER", |
|
|
"L_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. left top"] = ( |
|
|
"L_PENALTY_AREA_TL_CORNER", |
|
|
"L_PENALTY_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. left main"] = ( |
|
|
"L_PENALTY_AREA_TR_CORNER", |
|
|
"L_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right bottom"] = ( |
|
|
"R_PENALTY_AREA_BL_CORNER", |
|
|
"R_PENALTY_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right top"] = ( |
|
|
"R_PENALTY_AREA_TL_CORNER", |
|
|
"R_PENALTY_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Big rect. right main"] = ( |
|
|
"R_PENALTY_AREA_TL_CORNER", |
|
|
"R_PENALTY_AREA_BL_CORNER", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Small rect. left bottom"] = ( |
|
|
"L_GOAL_AREA_BL_CORNER", |
|
|
"L_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. left top"] = ( |
|
|
"L_GOAL_AREA_TL_CORNER", |
|
|
"L_GOAL_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. left main"] = ( |
|
|
"L_GOAL_AREA_TR_CORNER", |
|
|
"L_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right bottom"] = ( |
|
|
"R_GOAL_AREA_BL_CORNER", |
|
|
"R_GOAL_AREA_BR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right top"] = ( |
|
|
"R_GOAL_AREA_TL_CORNER", |
|
|
"R_GOAL_AREA_TR_CORNER", |
|
|
) |
|
|
self.line_extremities_keys["Small rect. right main"] = ( |
|
|
"R_GOAL_AREA_TL_CORNER", |
|
|
"R_GOAL_AREA_BL_CORNER", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Side line top"] = ("TL_PITCH_CORNER", "TR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line bottom"] = ("BL_PITCH_CORNER", "BR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line left"] = ("TL_PITCH_CORNER", "BL_PITCH_CORNER") |
|
|
self.line_extremities_keys["Side line right"] = ("TR_PITCH_CORNER", "BR_PITCH_CORNER") |
|
|
self.line_extremities_keys["Middle line"] = ( |
|
|
"T_TOUCH_AND_HALFWAY_LINES_INTERSECTION", |
|
|
"B_TOUCH_AND_HALFWAY_LINES_INTERSECTION", |
|
|
) |
|
|
|
|
|
self.line_extremities_keys["Goal left crossbar"] = ("L_GOAL_TR_POST", "L_GOAL_TL_POST") |
|
|
self.line_extremities_keys["Goal left post left "] = ("L_GOAL_TL_POST", "L_GOAL_BL_POST") |
|
|
self.line_extremities_keys["Goal left post right"] = ("L_GOAL_TR_POST", "L_GOAL_BR_POST") |
|
|
|
|
|
self.line_extremities_keys["Goal right crossbar"] = ("R_GOAL_TL_POST", "R_GOAL_TR_POST") |
|
|
self.line_extremities_keys["Goal right post left"] = ("R_GOAL_TL_POST", "R_GOAL_BL_POST") |
|
|
self.line_extremities_keys["Goal right post right"] = ("R_GOAL_TR_POST", "R_GOAL_BR_POST") |
|
|
self.line_extremities_keys["Circle right"] = ( |
|
|
"TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
"BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
) |
|
|
self.line_extremities_keys["Circle left"] = ( |
|
|
"TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
"BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION", |
|
|
) |
|
|
|
|
|
def points(self): |
|
|
return [ |
|
|
self.center_mark, |
|
|
self.halfway_and_bottom_touch_line_mark, |
|
|
self.halfway_and_top_touch_line_mark, |
|
|
self.halfway_line_and_center_circle_top_mark, |
|
|
self.halfway_line_and_center_circle_bottom_mark, |
|
|
self.bottom_right_corner, |
|
|
self.bottom_left_corner, |
|
|
self.top_right_corner, |
|
|
self.top_left_corner, |
|
|
self.left_penalty_mark, |
|
|
self.right_penalty_mark, |
|
|
self.left_penalty_area_top_right_corner, |
|
|
self.left_penalty_area_top_left_corner, |
|
|
self.left_penalty_area_bottom_right_corner, |
|
|
self.left_penalty_area_bottom_left_corner, |
|
|
self.right_penalty_area_top_right_corner, |
|
|
self.right_penalty_area_top_left_corner, |
|
|
self.right_penalty_area_bottom_right_corner, |
|
|
self.right_penalty_area_bottom_left_corner, |
|
|
self.left_goal_area_top_right_corner, |
|
|
self.left_goal_area_top_left_corner, |
|
|
self.left_goal_area_bottom_right_corner, |
|
|
self.left_goal_area_bottom_left_corner, |
|
|
self.right_goal_area_top_right_corner, |
|
|
self.right_goal_area_top_left_corner, |
|
|
self.right_goal_area_bottom_right_corner, |
|
|
self.right_goal_area_bottom_left_corner, |
|
|
self.top_left_16M_penalty_arc_mark, |
|
|
self.top_right_16M_penalty_arc_mark, |
|
|
self.bottom_left_16M_penalty_arc_mark, |
|
|
self.bottom_right_16M_penalty_arc_mark, |
|
|
self.left_goal_top_left_post, |
|
|
self.left_goal_top_right_post, |
|
|
self.left_goal_bottom_left_post, |
|
|
self.left_goal_bottom_right_post, |
|
|
self.right_goal_top_left_post, |
|
|
self.right_goal_top_right_post, |
|
|
self.right_goal_bottom_left_post, |
|
|
self.right_goal_bottom_right_post, |
|
|
] |
|
|
|
|
|
def sample_field_points(self, dist=0.1, dist_circles=0.2): |
|
|
""" |
|
|
Samples each pitch element every dist meters, returns a dictionary associating the class of the element with a list of points sampled along this element. |
|
|
:param dist: the distance in meters between each point sampled |
|
|
:param dist_circles: the distance in meters between each point sampled on circles |
|
|
:return: a dictionary associating the class of the element with a list of points sampled along this element. |
|
|
""" |
|
|
polylines = dict() |
|
|
center = self.point_dict["CENTER_MARK"] |
|
|
fromAngle = 0.0 |
|
|
toAngle = 2 * np.pi |
|
|
|
|
|
if toAngle < fromAngle: |
|
|
toAngle += 2 * np.pi |
|
|
x1 = center[0] + np.cos(fromAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
y1 = center[1] + np.sin(fromAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
z1 = 0.0 |
|
|
point = np.array((x1, y1, z1)) |
|
|
polyline = [point] |
|
|
length = SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS * (toAngle - fromAngle) |
|
|
nb_pts = int(length / dist_circles) |
|
|
dangle = dist_circles / SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
for i in range(1, nb_pts): |
|
|
angle = fromAngle + i * dangle |
|
|
x = center[0] + np.cos(angle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
y = center[1] + np.sin(angle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
z = 0 |
|
|
point = np.array((x, y, z)) |
|
|
polyline.append(point) |
|
|
|
|
|
|
|
|
polylines["Circle central left"] = [p for p in polyline if p[0] < 0.0] |
|
|
polylines["Circle central right"] = [p for p in polyline if p[0] >= 0.0] |
|
|
for key, line in self.line_extremities.items(): |
|
|
|
|
|
if "Circle" in key: |
|
|
if key == "Circle right": |
|
|
top = self.point_dict["TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
bottom = self.point_dict["BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
center = self.point_dict["R_PENALTY_MARK"] |
|
|
toAngle = np.arctan2(top[1] - center[1], top[0] - center[0]) + 2 * np.pi |
|
|
fromAngle = np.arctan2(bottom[1] - center[1], bottom[0] - center[0]) + 2 * np.pi |
|
|
elif key == "Circle left": |
|
|
top = self.point_dict["TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
bottom = self.point_dict["BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] |
|
|
center = self.point_dict["L_PENALTY_MARK"] |
|
|
fromAngle = np.arctan2(top[1] - center[1], top[0] - center[0]) + 2 * np.pi |
|
|
toAngle = np.arctan2(bottom[1] - center[1], bottom[0] - center[0]) + 2 * np.pi |
|
|
if toAngle < fromAngle: |
|
|
toAngle += 2 * np.pi |
|
|
x1 = ( |
|
|
center[0] |
|
|
+ np.cos(fromAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
y1 = ( |
|
|
center[1] |
|
|
+ np.sin(fromAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
z1 = 0.0 |
|
|
xn = ( |
|
|
center[0] |
|
|
+ np.cos(toAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
yn = ( |
|
|
center[1] |
|
|
+ np.sin(toAngle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
zn = 0.0 |
|
|
start = np.array((x1, y1, z1)) |
|
|
end = np.array((xn, yn, zn)) |
|
|
polyline = [start] |
|
|
length = SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS * ( |
|
|
toAngle - fromAngle |
|
|
) |
|
|
nb_pts = int(length / dist_circles) |
|
|
dangle = dist_circles / SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
for i in range(1, nb_pts + 1): |
|
|
angle = fromAngle + i * dangle |
|
|
x = ( |
|
|
center[0] |
|
|
+ np.cos(angle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
y = ( |
|
|
center[1] |
|
|
+ np.sin(angle) * SoccerPitchSNCircleCentralSplit.CENTER_CIRCLE_RADIUS |
|
|
) |
|
|
z = 0 |
|
|
point = np.array((x, y, z)) |
|
|
polyline.append(point) |
|
|
polyline.append(end) |
|
|
polylines[key] = polyline |
|
|
else: |
|
|
start = line[0] |
|
|
end = line[1] |
|
|
|
|
|
polyline = [start] |
|
|
|
|
|
total_dist = np.sqrt(np.sum(np.square(start - end))) |
|
|
nb_pts = int(total_dist / dist - 1) |
|
|
|
|
|
v = end - start |
|
|
v /= np.linalg.norm(v) |
|
|
prev_pt = start |
|
|
for i in range(nb_pts): |
|
|
pt = prev_pt + dist * v |
|
|
prev_pt = pt |
|
|
polyline.append(pt) |
|
|
polyline.append(end) |
|
|
polylines[key] = polyline |
|
|
return polylines |
|
|
|
|
|
def get_2d_homogeneous_line(self, line_name): |
|
|
""" |
|
|
For lines belonging to the pitch lawn plane returns its 2D homogenous equation coefficients |
|
|
:param line_name |
|
|
:return: an array containing the three coefficients of the line |
|
|
""" |
|
|
|
|
|
if ( |
|
|
line_name in self.line_extremities.keys() |
|
|
and "post" not in line_name |
|
|
and "crossbar" not in line_name |
|
|
and "Circle" not in line_name |
|
|
): |
|
|
extremities = self.line_extremities[line_name] |
|
|
p1 = np.array([extremities[0][0], extremities[0][1], 1], dtype="float") |
|
|
p2 = np.array([extremities[1][0], extremities[1][1], 1], dtype="float") |
|
|
line = np.cross(p1, p2) |
|
|
|
|
|
return line |
|
|
return None |
|
|
|
|
|
|
|
|
class Abstract3dModel(metaclass=ABCMeta): |
|
|
def __init__(self) -> None: |
|
|
|
|
|
self.points = None |
|
|
self.points_sampled = ( |
|
|
None |
|
|
) |
|
|
self.points_sampled_palette = {} |
|
|
self.segment_names = set(self.points_sampled_palette.keys()) |
|
|
|
|
|
self.line_segments = [] |
|
|
self.line_segments_names = [] |
|
|
self.line_palette = [] |
|
|
|
|
|
self.circle_segments = None |
|
|
self.circle_segments_names = [] |
|
|
self.circle_palette = [] |
|
|
|
|
|
|
|
|
class Meshgrid(Abstract3dModel): |
|
|
def __init__(self, height=68, width=105): |
|
|
self.points = kornia.utils.create_meshgrid( |
|
|
height=height + 1, width=width + 1, normalized_coordinates=True |
|
|
) |
|
|
self.points = self.points.flatten(start_dim=-3, end_dim=-2) |
|
|
self.points[:, :, 0] = self.points[:, :, 0] * width / 2 |
|
|
self.points[:, :, 1] = self.points[:, :, 1] * height / 2 |
|
|
self.points = kornia.geometry.conversions.convert_points_to_homogeneous(self.points) |
|
|
self.points[:, :, -1] = 0.0 |
|
|
self.points = self.points.squeeze(0) |
|
|
self.points_sampled = {"meshgrid": self.points} |
|
|
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class SoccerPitchLineCircleSegments(Abstract3dModel): |
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def __init__( |
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self, |
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base_field, |
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device="cpu", |
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N_cstar=128, |
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sampling_factor_lines=0.2, |
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sampling_factor_circles=0.8, |
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) -> None: |
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if not ( |
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isinstance(base_field, SoccerPitchSNCircleCentralSplit) |
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or isinstance(base_field, SoccerPitchSN) |
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): |
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raise NotImplementedError |
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self.sampling_factor_lines = sampling_factor_lines |
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self.sampling_factor_circles = sampling_factor_circles |
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self._field_sncalib = base_field |
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self.device = device |
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self.points = torch.from_numpy(np.stack(self._field_sncalib.points())).float().to(device) |
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self.points_sampled = self._field_sncalib.sample_field_points( |
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self.sampling_factor_lines, self.sampling_factor_circles |
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) |
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self.points_sampled = { |
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k: torch.from_numpy(np.stack(v)).float().to(device) |
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for k, v in self.points_sampled.items() |
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} |
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self.points_sampled_palette = self._field_sncalib.palette |
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self.segment_names = set(self.points_sampled_palette.keys()) |
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self.cmap_01 = {k: [c / 255.0 for c in v] for k, v in self.points_sampled_palette.items()} |
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self.line_collection: List[LineCollection] = [] |
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self.line_segments = [] |
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self.line_segments_names = [] |
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for line_name, (p0, p1) in self._field_sncalib.line_extremities.items(): |
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if "Circle" not in line_name: |
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p0 = torch.from_numpy(p0).float().to(device) |
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p1 = torch.from_numpy(p1).float().to(device) |
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direction = p1 - p0 |
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direction_norm = direction / torch.linalg.norm(direction) |
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self.line_collection.append( |
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LineCollection( |
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support=p0, |
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direction=direction, |
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direction_norm=direction_norm, |
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) |
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) |
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self.line_segments_names.append(line_name) |
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self.line_segments.append(torch.stack([p0, p1], dim=1)) |
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self.line_segments = torch.stack(self.line_segments, dim=-1).transpose(1, 2).to(device) |
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self.line_palette = [ |
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self._field_sncalib.palette[self.line_segments_names[i]] |
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for i in range(len(self.line_segments_names)) |
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] |
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if isinstance(base_field, SoccerPitchSNCircleCentralSplit): |
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self.circle_segments_names = [ |
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"Circle central left", |
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"Circle central right", |
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"Circle left", |
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"Circle right", |
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] |
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elif isinstance(base_field, SoccerPitchSN): |
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self.circle_segments_names = [ |
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"Circle central", |
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"Circle left", |
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"Circle right", |
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] |
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else: |
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raise NotImplementedError |
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self.circle_segments = self._sample_points_from_circle_segments( |
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m=N_cstar |
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) |
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self.circle_palette = [ |
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self._field_sncalib.palette[self.circle_segments_names[i]] |
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for i in range(len(self.circle_segments_names)) |
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] |
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def _sample_points_from_circle_segments(self, m: int): |
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sampled_points = self._field_sncalib.sample_field_points(dist=1.0, dist_circles=0.05) |
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for key in self.circle_segments_names: |
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assert len(sampled_points[key]) >= m |
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return ( |
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torch.stack( |
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[ |
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torch.from_numpy(np.stack(random.sample(sampled_points[key], k=m), axis=-1)) |
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for key in self.circle_segments_names |
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], |
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dim=1, |
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) |
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.float() |
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.to(self.device) |
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) |
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if __name__ == "__main__": |
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from matplotlib import pyplot as plt |
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection |
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model3d = SoccerPitchLineCircleSegments() |
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fig = plt.figure(figsize=(20, 20)) |
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ax = fig.add_subplot(projection="3d") |
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for s in range(len(model3d.line_collection)): |
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ax.quiver( |
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model3d.line_collection[s].support[0], |
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model3d.line_collection[s].support[1], |
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model3d.line_collection[s].support[2], |
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model3d.line_collection[s].direction[0], |
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model3d.line_collection[s].direction[1], |
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model3d.line_collection[s].direction[2], |
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arrow_length_ratio=0.05, |
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color=[x / 255.0 for x in model3d.line_palette[s]], |
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zorder=2000, |
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linewidths=3, |
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label=model3d.line_segments_names[s], |
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alpha=0.5, |
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) |
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plt.legend() |
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ax.set_xlim([-105 / 2, 105 / 2]) |
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ax.set_ylim([-105 / 2, 105 / 2]) |
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ax.set_zlim([-105 / 2, 105 / 2]) |
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plt.show() |
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fig = plt.figure(figsize=(20, 20)) |
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ax = fig.add_subplot(projection="3d") |
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for segment_name, sampled_points in model3d.points_sampled.items(): |
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ax.scatter( |
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sampled_points[:, 0], |
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sampled_points[:, 1], |
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-sampled_points[:, 2], |
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zorder=3000, |
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color=[x / 255.0 for x in model3d.points_sampled_palette[segment_name]], |
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marker="x", |
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label=segment_name, |
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) |
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plt.legend() |
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ax.set_xlim([-105 / 2, 105 / 2]) |
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ax.set_ylim([-105 / 2, 105 / 2]) |
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ax.set_zlim([-105 / 2, 105 / 2]) |
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plt.show() |
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fig = plt.figure(figsize=(20, 20)) |
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ax = fig.add_subplot(projection="3d") |
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for s in range(model3d.line_segments.shape[1]): |
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if "crossbar" in model3d.line_segments_names[s]: |
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print(s, model3d.line_segments[:, s]) |
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ax.scatter( |
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model3d.line_segments[0, s], |
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model3d.line_segments[1, s], |
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-model3d.line_segments[2, s], |
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zorder=3000, |
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color=[x / 255.0 for x in model3d.line_palette[s]], |
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marker="x", |
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label=model3d.line_segments_names[s], |
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) |
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plt.legend() |
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ax.set_xlim([-105 / 2, 105 / 2]) |
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ax.set_ylim([-105 / 2, 105 / 2]) |
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ax.set_zlim([-105 / 2, 105 / 2]) |
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plt.savefig("soccer_field_line_segments.pdf") |
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