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import numpy as np
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class SoccerPitch:
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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 left',
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'Goal left post right': 'Goal right post right',
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'Goal right crossbar': 'Goal left crossbar',
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'Goal right post left': 'Goal left post left ',
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'Goal right post right': 'Goal left post right',
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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': (255, 255, 255),
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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., pitch_width=68.):
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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([0, -SoccerPitch.CENTER_CIRCLE_RADIUS, 0],
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dtype='float')
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self.halfway_line_and_center_circle_bottom_mark = np.array([0, SoccerPitch.CENTER_CIRCLE_RADIUS, 0],
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dtype='float')
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self.bottom_right_corner = np.array([pitch_length / 2.0, pitch_width / 2.0, 0], dtype='float')
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self.bottom_left_corner = np.array([-pitch_length / 2.0, pitch_width / 2.0, 0], dtype='float')
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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, -pitch_width / 2.0, 0], dtype='float')
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self.left_goal_bottom_left_post = np.array([-pitch_length / 2.0, SoccerPitch.GOAL_LENGTH / 2., 0.],
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dtype='float')
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self.left_goal_top_left_post = np.array(
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[-pitch_length / 2.0, SoccerPitch.GOAL_LENGTH / 2., -SoccerPitch.GOAL_HEIGHT], dtype='float')
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self.left_goal_bottom_right_post = np.array([-pitch_length / 2.0, -SoccerPitch.GOAL_LENGTH / 2., 0.],
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dtype='float')
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self.left_goal_top_right_post = np.array(
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[-pitch_length / 2.0, -SoccerPitch.GOAL_LENGTH / 2., -SoccerPitch.GOAL_HEIGHT], dtype='float')
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self.right_goal_bottom_left_post = np.array([pitch_length / 2.0, -SoccerPitch.GOAL_LENGTH / 2., 0.],
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dtype='float')
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self.right_goal_top_left_post = np.array(
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[pitch_length / 2.0, -SoccerPitch.GOAL_LENGTH / 2., -SoccerPitch.GOAL_HEIGHT], dtype='float')
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self.right_goal_bottom_right_post = np.array([pitch_length / 2.0, SoccerPitch.GOAL_LENGTH / 2., 0.],
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dtype='float')
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self.right_goal_top_right_post = np.array(
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[pitch_length / 2.0, SoccerPitch.GOAL_LENGTH / 2., -SoccerPitch.GOAL_HEIGHT], dtype='float')
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self.left_penalty_mark = np.array([-pitch_length / 2.0 + SoccerPitch.GOAL_LINE_TO_PENALTY_MARK, 0, 0],
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dtype='float')
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self.right_penalty_mark = np.array([pitch_length / 2.0 - SoccerPitch.GOAL_LINE_TO_PENALTY_MARK, 0, 0],
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dtype='float')
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self.left_penalty_area_top_right_corner = np.array(
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[-pitch_length / 2.0 + SoccerPitch.PENALTY_AREA_LENGTH, -SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.left_penalty_area_top_left_corner = np.array(
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[-pitch_length / 2.0, -SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.left_penalty_area_bottom_right_corner = np.array(
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[-pitch_length / 2.0 + SoccerPitch.PENALTY_AREA_LENGTH, SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.left_penalty_area_bottom_left_corner = np.array(
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[-pitch_length / 2.0, SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_penalty_area_top_right_corner = np.array(
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[pitch_length / 2.0, -SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_penalty_area_top_left_corner = np.array(
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[pitch_length / 2.0 - SoccerPitch.PENALTY_AREA_LENGTH, -SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_penalty_area_bottom_right_corner = np.array(
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[pitch_length / 2.0, SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_penalty_area_bottom_left_corner = np.array(
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[pitch_length / 2.0 - SoccerPitch.PENALTY_AREA_LENGTH, SoccerPitch.PENALTY_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.left_goal_area_top_right_corner = np.array(
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[-pitch_length / 2.0 + SoccerPitch.GOAL_AREA_LENGTH, -SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0], dtype='float')
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self.left_goal_area_top_left_corner = np.array([-pitch_length / 2.0, - SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.left_goal_area_bottom_right_corner = np.array(
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[-pitch_length / 2.0 + SoccerPitch.GOAL_AREA_LENGTH, SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0], dtype='float')
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self.left_goal_area_bottom_left_corner = np.array([-pitch_length / 2.0, SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_goal_area_top_right_corner = np.array([pitch_length / 2.0, -SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_goal_area_top_left_corner = np.array(
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[pitch_length / 2.0 - SoccerPitch.GOAL_AREA_LENGTH, -SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0], dtype='float')
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self.right_goal_area_bottom_right_corner = np.array([pitch_length / 2.0, SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0],
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dtype='float')
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self.right_goal_area_bottom_left_corner = np.array(
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[pitch_length / 2.0 - SoccerPitch.GOAL_AREA_LENGTH, SoccerPitch.GOAL_AREA_WIDTH / 2.0, 0], dtype='float')
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x = -pitch_length / 2.0 + SoccerPitch.PENALTY_AREA_LENGTH;
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dx = SoccerPitch.PENALTY_AREA_LENGTH - SoccerPitch.GOAL_LINE_TO_PENALTY_MARK;
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y = -np.sqrt(SoccerPitch.CENTER_CIRCLE_RADIUS * SoccerPitch.CENTER_CIRCLE_RADIUS - dx * dx);
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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 - SoccerPitch.PENALTY_AREA_LENGTH;
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dx = SoccerPitch.PENALTY_AREA_LENGTH - SoccerPitch.GOAL_LINE_TO_PENALTY_MARK;
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y = -np.sqrt(SoccerPitch.CENTER_CIRCLE_RADIUS * SoccerPitch.CENTER_CIRCLE_RADIUS - dx * dx);
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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 + SoccerPitch.PENALTY_AREA_LENGTH;
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dx = SoccerPitch.PENALTY_AREA_LENGTH - SoccerPitch.GOAL_LINE_TO_PENALTY_MARK;
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y = np.sqrt(SoccerPitch.CENTER_CIRCLE_RADIUS * SoccerPitch.CENTER_CIRCLE_RADIUS - dx * dx);
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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 - SoccerPitch.PENALTY_AREA_LENGTH;
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dx = SoccerPitch.PENALTY_AREA_LENGTH - SoccerPitch.GOAL_LINE_TO_PENALTY_MARK;
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y = np.sqrt(SoccerPitch.CENTER_CIRCLE_RADIUS * SoccerPitch.CENTER_CIRCLE_RADIUS - dx * dx);
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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["T_TOUCH_AND_HALFWAY_LINES_INTERSECTION"] = self.halfway_and_top_touch_line_mark
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self.point_dict["B_TOUCH_AND_HALFWAY_LINES_INTERSECTION"] = self.halfway_and_bottom_touch_line_mark
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self.point_dict["T_HALFWAY_LINE_AND_CENTER_CIRCLE_INTERSECTION"] = 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"] = self.halfway_line_and_center_circle_bottom_mark
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self.point_dict["TL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] = self.top_left_16M_penalty_arc_mark
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self.point_dict["BL_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] = self.bottom_left_16M_penalty_arc_mark
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self.point_dict["TR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] = self.top_right_16M_penalty_arc_mark
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self.point_dict["BR_16M_LINE_AND_PENALTY_ARC_INTERSECTION"] = 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"] = (self.point_dict["L_PENALTY_AREA_BL_CORNER"],
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self.point_dict["L_PENALTY_AREA_BR_CORNER"])
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self.line_extremities["Big rect. left top"] = (self.point_dict["L_PENALTY_AREA_TL_CORNER"],
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self.point_dict["L_PENALTY_AREA_TR_CORNER"])
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self.line_extremities["Big rect. left main"] = (self.point_dict["L_PENALTY_AREA_TR_CORNER"],
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self.point_dict["L_PENALTY_AREA_BR_CORNER"])
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self.line_extremities["Big rect. right bottom"] = (self.point_dict["R_PENALTY_AREA_BL_CORNER"],
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self.point_dict["R_PENALTY_AREA_BR_CORNER"])
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self.line_extremities["Big rect. right top"] = (self.point_dict["R_PENALTY_AREA_TL_CORNER"],
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self.point_dict["R_PENALTY_AREA_TR_CORNER"])
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self.line_extremities["Big rect. right main"] = (self.point_dict["R_PENALTY_AREA_TL_CORNER"],
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self.point_dict["R_PENALTY_AREA_BL_CORNER"])
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self.line_extremities["Small rect. left bottom"] = (self.point_dict["L_GOAL_AREA_BL_CORNER"],
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self.point_dict["L_GOAL_AREA_BR_CORNER"])
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self.line_extremities["Small rect. left top"] = (self.point_dict["L_GOAL_AREA_TL_CORNER"],
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self.point_dict["L_GOAL_AREA_TR_CORNER"])
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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.
|
|
|
toAngle = 2 * np.pi
|
|
|
|
|
|
if toAngle < fromAngle:
|
|
|
toAngle += 2 * np.pi
|
|
|
x1 = center[0] + np.cos(fromAngle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
y1 = center[1] + np.sin(fromAngle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
z1 = 0.
|
|
|
point = np.array((x1, y1, z1))
|
|
|
polyline = [point]
|
|
|
length = SoccerPitch.CENTER_CIRCLE_RADIUS * (toAngle - fromAngle)
|
|
|
nb_pts = int(length / dist_circles)
|
|
|
dangle = dist_circles / SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
for i in range(1, nb_pts):
|
|
|
angle = fromAngle + i * dangle
|
|
|
x = center[0] + np.cos(angle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
y = center[1] + np.sin(angle) * SoccerPitch.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) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
y1 = center[1] + np.sin(fromAngle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
z1 = 0.
|
|
|
xn = center[0] + np.cos(toAngle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
yn = center[1] + np.sin(toAngle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
zn = 0.
|
|
|
start = np.array((x1, y1, z1))
|
|
|
end = np.array((xn, yn, zn))
|
|
|
polyline = [start]
|
|
|
length = SoccerPitch.CENTER_CIRCLE_RADIUS * (toAngle - fromAngle)
|
|
|
nb_pts = int(length / dist_circles)
|
|
|
dangle = dist_circles / SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
for i in range(1, nb_pts + 1):
|
|
|
angle = fromAngle + i * dangle
|
|
|
x = center[0] + np.cos(angle) * SoccerPitch.CENTER_CIRCLE_RADIUS
|
|
|
y = center[1] + np.sin(angle) * SoccerPitch.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
|
|
|
|
