Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 752:14963a9c3b09 dev
debug finished
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Wed, 28 Oct 2015 23:37:25 -0400 |
parents | c6d4ea05a2d0 |
children | 15ddc8715236 |
rev | line source |
---|---|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1 #! /usr/bin/env python |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
2 '''Libraries for moving objects, trajectories...''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
3 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
663
diff
changeset
|
4 import utils, cvutils |
665
15e244d2a1b5
corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
5 from base import VideoFilenameAddable |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
6 |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
7 from math import sqrt, atan2, cos, sin |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32 |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
9 from matplotlib.pyplot import plot |
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
10 from scipy.stats import scoreatpercentile |
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
11 from scipy.spatial.distance import cdist |
16 | 12 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
13 try: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
14 from shapely.geometry import Polygon, Point as shapelyPoint |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
15 from shapely.prepared import prep |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
16 shapelyAvailable = True |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
17 except ImportError: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
18 print('Shapely library could not be loaded') |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
19 shapelyAvailable = False |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
20 |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
21 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
22 class Interval(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
23 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 24 def __init__(self, first=0, last=-1, revert = False): |
25 if revert and last<first: | |
26 self.first=last | |
27 self.last=first | |
28 else: | |
29 self.first=first | |
30 self.last=last | |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
31 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
32 def __str__(self): |
104
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
33 return '[{0}, {1}]'.format(self.first, self.last) |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
34 |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
35 def __repr__(self): |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
36 return self.__str__() |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
37 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
38 def empty(self): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
39 return self.first > self.last |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
40 |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
41 def center(self): |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
42 return (self.first+self.last)/2. |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
43 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
44 def length(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
45 '''Returns the length of the interval''' |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
46 return float(max(0,self.last-self.first)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
47 |
96
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
48 def equal(self, i2): |
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
49 return self.first==i2.first and self.last == i2.last |
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
50 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
51 def getList(self): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
52 return [self.first, self.last] |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
53 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
54 def contains(self, instant): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
55 return (self.first<=instant and self.last>=instant) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
56 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
57 def inside(self, interval2): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
58 '''Indicates if the temporal interval of self is comprised in interval2''' |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
59 return (self.first >= interval2.first) and (self.last <= interval2.last) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
60 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
61 @classmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
62 def union(cls, interval1, interval2): |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
63 '''Smallest interval comprising self and interval2''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
64 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
65 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
66 @classmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
67 def intersection(cls, interval1, interval2): |
104
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
68 '''Largest interval comprised in both self and interval2''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
69 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
70 |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
71 def distance(self, interval2): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
72 if not Interval.intersection(self, interval2).empty(): |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
73 return 0 |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
74 elif self.first > interval2.last: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
75 return self.first - interval2.last |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
76 elif self.last < interval2.first: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
77 return interval2.first - self.last |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
78 else: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
79 return None |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
80 |
727
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
81 @classmethod |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
82 def unionIntervals(cls, intervals): |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
83 'returns the smallest interval containing all intervals' |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
84 inter = cls(intervals[0].first, intervals[0].last) |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
85 for i in intervals[1:]: |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
86 inter = cls.union(inter, i) |
c6d4ea05a2d0
adding ability to deal with multivariate indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
726
diff
changeset
|
87 return inter |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
88 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
89 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
90 class TimeInterval(Interval): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
91 '''Temporal interval: set of instants at fixed time step, between first and last, included |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
92 |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
93 For example: based on frame numbers (hence the modified length method) |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
94 It may be modified directly by setting first and last''' |
26 | 95 |
96 def __init__(self, first=0, last=-1): | |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
97 super(TimeInterval, self).__init__(first, last, False) |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
98 |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
99 @staticmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
100 def fromInterval(inter): |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
101 return TimeInterval(inter.first, inter.last) |
26 | 102 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
103 def __getitem__(self, i): |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
104 if not self.empty(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
105 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
106 return self.first+i |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
107 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
108 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
109 #elif isinstance( key, slice ): |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
110 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
111 def __iter__(self): |
107
916678481896
corrected bug for TimeInterval interation and added corresponding test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
105
diff
changeset
|
112 self.iterInstantNum = -1 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
113 return self |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
114 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
115 def next(self): |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
116 if self.iterInstantNum >= self.length()-1: |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
117 raise StopIteration |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
118 else: |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
119 self.iterInstantNum += 1 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
120 return self[self.iterInstantNum] |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
121 |
26 | 122 def length(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
123 '''Returns the length of the interval''' |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
124 return float(max(0,self.last-self.first+1)) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
125 |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
126 def __len__(self): |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
127 return self.length() |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
128 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
129 # class BoundingPolygon: |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
130 # '''Class for a polygon bounding a set of points |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
131 # with methods to create intersection, unions... |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
132 # ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
133 # We will use the polygon class of Shapely |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
134 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
135 class STObject(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
136 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 137 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
138 |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
139 It may not mean that the object is defined |
6 | 140 for all time instants within the time interval''' |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
141 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
142 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
143 self.num = num |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
144 self.timeInterval = timeInterval |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
145 self.boundingPolygon = boundingPolygon |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
146 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
147 def empty(self): |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
148 return self.timeInterval.empty()# or not self.boudingPolygon |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
149 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
150 def getNum(self): |
211 | 151 return self.num |
152 | |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
153 def __len__(self): |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
154 return self.timeInterval.length() |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
155 |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
156 def length(self): |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
157 return self.timeInterval.length() |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
158 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
159 def getFirstInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents:
39
diff
changeset
|
160 return self.timeInterval.first |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
161 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
162 def getLastInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents:
39
diff
changeset
|
163 return self.timeInterval.last |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
164 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
165 def getTimeInterval(self): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
166 return self.timeInterval |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
167 |
108
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
168 def existsAtInstant(self, t): |
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
169 return self.timeInterval.contains(t) |
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
170 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
171 def commonTimeInterval(self, obj2): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
172 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
173 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
174 class Point(object): |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
175 def __init__(self, x, y): |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
176 self.x = x |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
177 self.y = y |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
178 |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
179 def __str__(self): |
675
ab3fdff42624
corrected old format for Point.__str__
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
674
diff
changeset
|
180 return '({:f},{:f})'.format(self.x,self.y) |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
181 |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
182 def __repr__(self): |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
183 return self.__str__() |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
184 |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
185 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
186 return Point(self.x+other.x, self.y+other.y) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
187 |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
188 def __sub__(self, other): |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
189 return Point(self.x-other.x, self.y-other.y) |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
190 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
191 def __neg__(self): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
192 return Point(-self.x, -self.y) |
575
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
193 |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
194 def __getitem__(self, i): |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
195 if i == 0: |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
196 return self.x |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
197 elif i == 1: |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
198 return self.y |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
199 else: |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
200 raise IndexError() |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
201 |
690 | 202 def orthogonal(self, clockwise = True): |
203 'Returns the orthogonal vector' | |
204 if clockwise: | |
205 return Point(self.y, -self.x) | |
206 else: | |
207 return Point(-self.y, self.x) | |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
208 |
105
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
209 def multiply(self, alpha): |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
210 'Warning, returns a new Point' |
105
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
211 return Point(self.x*alpha, self.y*alpha) |
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
212 |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
213 def divide(self, alpha): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
214 'Warning, returns a new Point' |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
215 return Point(self.x/alpha, self.y/alpha) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
216 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
217 def plot(self, options = 'o', **kwargs): |
211 | 218 plot([self.x], [self.y], options, **kwargs) |
41 | 219 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
220 def norm2Squared(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
221 '''2-norm distance (Euclidean distance)''' |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
222 return self.x**2+self.y**2 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
223 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
224 def norm2(self): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
225 '''2-norm distance (Euclidean distance)''' |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
226 return sqrt(self.norm2Squared()) |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
227 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
228 def norm1(self): |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
229 return abs(self.x)+abs(self.y) |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
230 |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
231 def normMax(self): |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
232 return max(abs(self.x),abs(self.y)) |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
233 |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
234 def aslist(self): |
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
235 return [self.x, self.y] |
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
236 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
237 def astuple(self): |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
238 return (self.x, self.y) |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
239 |
223
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
240 def asint(self): |
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
241 return Point(int(self.x), int(self.y)) |
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
242 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
243 if shapelyAvailable: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
244 def asShapely(self): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
245 return shapelyPoint(self.x, self.y) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
246 |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
247 def project(self, homography): |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
248 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
249 return Point(projected[0], projected[1]) |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
250 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
251 def inPolygon(self, polygon): |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
252 '''Indicates if the point x, y is inside the polygon |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
253 (array of Nx2 coordinates of the polygon vertices) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
254 |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
255 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
256 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
257 Use Polygon.contains if Shapely is installed''' |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
258 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
259 n = polygon.shape[0]; |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
260 counter = 0; |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
261 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
262 p1 = polygon[0,:]; |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
263 for i in range(n+1): |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
264 p2 = polygon[i % n,:]; |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
265 if self.y > min(p1[1],p2[1]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
266 if self.y <= max(p1[1],p2[1]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
267 if self.x <= max(p1[0],p2[0]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
268 if p1[1] != p2[1]: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
269 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
270 if p1[0] == p2[0] or self.x <= xinters: |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
271 counter+=1; |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
272 p1=p2 |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
273 return (counter%2 == 1); |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
274 |
49 | 275 @staticmethod |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
276 def fromList(p): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
277 return Point(p[0], p[1]) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
278 |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
279 @staticmethod |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
280 def dot(p1, p2): |
89
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
281 'Scalar product' |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
282 return p1.x*p2.x+p1.y*p2.y |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
283 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
284 @staticmethod |
90
f84293ad4611
renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
89
diff
changeset
|
285 def cross(p1, p2): |
f84293ad4611
renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
89
diff
changeset
|
286 'Cross product' |
89
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
287 return p1.x*p2.y-p1.y*p2.x |
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
288 |
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
289 @staticmethod |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
290 def cosine(p1, p2): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
291 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
292 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
293 @staticmethod |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
294 def distanceNorm2(p1, p2): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
295 return (p1-p2).norm2() |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
296 |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
297 @staticmethod |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
345
diff
changeset
|
298 def plotAll(points, **kwargs): |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
299 from matplotlib.pyplot import scatter |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
345
diff
changeset
|
300 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
301 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
302 def similarOrientation(self, refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
303 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
304 return Point.cosine(self, refDirection) >= cosineThreshold |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
305 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
306 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
464
diff
changeset
|
307 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
308 '''Computes exact time to collision with a distance threshold |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
309 The unknown of the equation is the time to reach the intersection |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
310 between the relative trajectory of one road user |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
311 and the circle of radius collisionThreshold around the other road user''' |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
312 dv = v1-v2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
313 dp = p1-p2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
314 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
516
bce1fe45d1b2
corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
515
diff
changeset
|
315 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
316 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
317 |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
318 delta = b**2 - 4*a*c |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
319 if delta >= 0: |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
320 deltaRoot = sqrt(delta) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
321 ttc1 = (-b + deltaRoot)/(2*a) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
322 ttc2 = (-b - deltaRoot)/(2*a) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
323 if ttc1 >= 0 and ttc2 >= 0: |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
324 ttc = min(ttc1,ttc2) |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
325 elif ttc1 >= 0: |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
326 ttc = ttc1 |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
327 elif ttc2 >= 0: |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
328 ttc = ttc2 |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
329 else: # ttc1 < 0 and ttc2 < 0: |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
330 ttc = None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
331 else: |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
332 ttc = None |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
333 return ttc |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
334 |
583
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
335 @staticmethod |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
336 def midPoint(p1, p2): |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
337 'Returns the middle of the segment [p1, p2]' |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
338 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
339 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
340 if shapelyAvailable: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
341 def pointsInPolygon(points, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
342 '''Optimized tests of a series of points within (Shapely) polygon ''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
343 prepared_polygon = prep(polygon) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
344 return filter(prepared_polygon.contains, points) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
345 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
346 # Functions for coordinate transformation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
347 # From Paul St-Aubin's PVA tools |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
348 def subsec_spline_dist(splines): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
349 ''' Prepare list of spline subsegments from a spline list. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
350 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
351 Output: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
352 ======= |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
353 ss_spline_d[spline #][mode][station] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
354 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
355 where: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
356 mode=0: incremental distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
357 mode=1: cumulative distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
358 mode=2: cumulative distance with trailing distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
359 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
360 ss_spline_d = [] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
361 #Prepare subsegment distances |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
362 for spline in range(len(splines)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
363 ss_spline_d.append([[],[],[]]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
364 ss_spline_d[spline][0] = zeros(len(splines[spline])-1) #Incremental distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
365 ss_spline_d[spline][1] = zeros(len(splines[spline])-1) #Cumulative distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
366 ss_spline_d[spline][2] = zeros(len(splines[spline])) #Cumulative distance with trailing distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
367 for spline_p in range(len(splines[spline])): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
368 if spline_p > (len(splines[spline]) - 2): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
369 break |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
370 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
371 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p]) |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
372 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
373 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
374 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
375 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
376 return ss_spline_d |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
377 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
378 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
379 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
380 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
381 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
382 if(p0x == p1x and p0y == p1y): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
383 return None |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
384 try: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
385 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
386 if(round(p0x, 10) == round(p1x, 10)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
387 p1x += 0.0000000001 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
388 if(round(p0y, 10) == round(p1y, 10)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
389 p1y += 0.0000000001 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
390 #make the calculation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
391 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
392 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
393 except ZeroDivisionError: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
394 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
395 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
396 import pdb; pdb.set_trace() |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
397 return Point(X,Y) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
398 |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
399 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
400 ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines). A spline is a list of points (class Point), most likely a trajectory. |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
401 |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
402 Output: |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
403 ======= |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
404 [spline index, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
405 subsegment leading point index, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
406 snapped point, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
407 subsegment distance, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
408 spline distance, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
409 orthogonal point offset] |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
410 |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
411 or None |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
412 ''' |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
413 minOffsetY = float('inf') |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
414 #For each spline |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
415 for spline in range(len(splines)): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
416 #For each spline point index |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
417 for spline_p in range(len(splines[spline])-1): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
418 #Get closest point on spline |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
419 closestPoint = ppldb2p(p.x,p.y,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1]) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
420 if closestPoint is None: |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
421 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p)) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
422 return None |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
423 # check if the |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
424 if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], closestPoint.y): |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
425 offsetY = Point.distanceNorm2(closestPoint, p) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
426 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
427 minOffsetY = offsetY |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
428 snappedSpline = spline |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
429 snappedSplineLeadingPoint = spline_p |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
430 snappedPoint = Point(closestPoint.x, closestPoint.y) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
431 #Jump loop if significantly close |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
432 if offsetY < goodEnoughSplineDistance: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
433 break |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
434 #Get sub-segment distance |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
435 if minOffsetY != float('inf'): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
436 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSpline][snappedSplineLeadingPoint]) |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
437 #Get cumulative alignment distance (total segment distance) |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
438 splineDistanceS = splines[snappedSpline].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
439 orthogonalSplineVector = (splines[snappedSpline][snappedSplineLeadingPoint+1]-splines[snappedSpline][snappedSplineLeadingPoint]).orthogonal() |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
440 offsetVector = p-snappedPoint |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
441 if Point.dot(orthogonalSplineVector, offsetVector) < 0: |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
442 minOffsetY = -minOffsetY |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
443 return [snappedSpline, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY] |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
444 else: |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
445 return None |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
446 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
447 def getXYfromSY(s, y, splineNum, splines, mode = 0): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
448 ''' Find X,Y coordinate from S,Y data. |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
449 if mode = 0 : return Snapped X,Y |
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
450 if mode !=0 : return Real X,Y |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
451 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
452 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
453 #(buckle in, it gets ugly from here on out) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
454 ss_spline_d = subsec_spline_dist(splines) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
455 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
456 #Find subsegment |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
457 snapped_x = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
458 snapped_y = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
459 for spline_ss_index in range(len(ss_spline_d[splineNum][1])): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
460 if(s < ss_spline_d[splineNum][1][spline_ss_index]): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
461 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
462 #Get normal vector and then snap |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
463 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
464 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
465 magnitude = sqrt(vector_l_x**2 + vector_l_y**2) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
466 n_vector_x = vector_l_x/magnitude |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
467 n_vector_y = vector_l_y/magnitude |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
468 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
469 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
470 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
471 #Real values (including orthogonal projection of y)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
472 real_x = snapped_x - y*n_vector_y |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
473 real_y = snapped_y + y*n_vector_x |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
474 break |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
475 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
476 if mode == 0 or (not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
477 if(not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
478 snapped_x = splines[splineNum][-1][0] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
479 snapped_y = splines[splineNum][-1][1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
480 return [snapped_x,snapped_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
481 else: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
482 return [real_x,real_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
483 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
484 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
485 class NormAngle(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
486 '''Alternate encoding of a point, by its norm and orientation''' |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
487 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
488 def __init__(self, norm, angle): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
489 self.norm = norm |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
490 self.angle = angle |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
491 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
492 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
493 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
494 norm = p.norm2() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
495 if norm > 0: |
259
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
258
diff
changeset
|
496 angle = atan2(p.y, p.x) |
339 | 497 else: |
498 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
499 return NormAngle(norm, angle) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
500 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
501 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
502 'a norm cannot become negative' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
503 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
504 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
505 def getPoint(self): |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
506 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
507 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
508 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
509 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
510 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
511 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
512 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
513 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
514 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
515 speedOrientation is the other encoding of velocity, (speed, orientation) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
516 speedOrientation and control are NormAngle''' |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
517 predictedSpeedTheta = speedOrientation+control |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
518 if maxSpeed: |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
519 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
520 predictedPosition = position+predictedSpeedTheta.getPoint() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
521 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
522 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
523 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
524 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
525 '''Class to represent 4-D flow vectors, |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
526 ie a position and a velocity''' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
527 def __init__(self, position, velocity): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
528 'position and velocity should be Point instances' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
529 self.position = position |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
530 self.velocity = velocity |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
531 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
532 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
533 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
534 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
535 def multiply(self, alpha): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
536 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
537 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
538 def plot(self, options = '', **kwargs): |
211 | 539 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
540 self.position.plot(options+'x', **kwargs) |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
541 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
542 @staticmethod |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
543 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
544 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
545 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
546 def intersection(p1, p2, p3, p4): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
547 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
548 http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
549 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
550 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
551 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y) |
674
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
552 det = float(dp34.y*dp12.x-dp34.x*dp12.y) |
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
553 if det == 0.: |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
554 return None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
555 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
556 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
557 return p1+dp12.multiply(ua) |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
558 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
559 # def intersection(p1, p2, dp1, dp2): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
560 # '''Returns the intersection point between the two lines |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
561 # defined by the respective vectors (dp) and origin points (p)''' |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
562 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
563 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
564 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
565 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
566 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
567 # [dp2.y*p2.x-dp2.x*p2.y]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
568 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
569 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
570 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
571 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
572 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
573 # return Point(intersection[0,0], intersection[1,0]) |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
574 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
575 def segmentIntersection(p1, p2, p3, p4): |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
576 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
577 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
578 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
579 return None |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
580 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
581 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
582 if (inter is not None |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
583 and utils.inBetween(p1.x, p2.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
584 and utils.inBetween(p3.x, p4.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
585 and utils.inBetween(p1.y, p2.y, inter.y) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
586 and utils.inBetween(p3.y, p4.y, inter.y)): |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
587 return inter |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
588 else: |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
589 return None |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
590 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
591 def segmentLineIntersection(p1, p2, p3, p4): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
592 '''Indicates if the line going through p1 and p2 intersects inside p3, p4''' |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
593 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
594 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y): |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
595 return inter |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
596 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
597 return None |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
598 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
599 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
600 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
601 '''Class for trajectories: temporal sequence of positions |
22 | 602 |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
603 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
604 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
605 def __init__(self, positions=None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
606 if positions is not None: |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
607 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
608 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
609 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
610 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
611 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
612 def generate(p, v, nPoints): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
613 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
614 p0 = Point(p.x, p.y) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
615 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
616 for i in xrange(nPoints-1): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
617 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
618 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
619 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints]) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
620 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
621 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
622 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
623 return Trajectory([[float(n) for n in line1.split(' ')], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
624 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
625 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
626 @staticmethod |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
627 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
628 t = Trajectory() |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
629 if isinstance(points[0], list) or isinstance(points[0], tuple): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
630 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
631 t.addPositionXY(p[0],p[1]) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
632 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
633 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
634 t.addPosition(p) |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
635 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
636 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
637 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
638 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
639 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
640 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
641 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
642 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
643 def empty(self): |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
644 return self.__len__() == 0 |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
645 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
646 def __getitem__(self, i): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
647 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
648 return Point(self.positions[0][i], self.positions[1][i]) |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
649 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
650 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
651 #elif isinstance( key, slice ): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
652 |
16 | 653 def __str__(self): |
39 | 654 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 655 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
656 def __repr__(self): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
657 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
658 |
546 | 659 |
22 | 660 def __iter__(self): |
661 self.iterInstantNum = 0 | |
662 return self | |
663 | |
664 def next(self): | |
665 if self.iterInstantNum >= self.length(): | |
666 raise StopIteration | |
667 else: | |
668 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
669 return self[self.iterInstantNum-1] |
22 | 670 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
671 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
672 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
673 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
674 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
675 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
676 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
677 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
678 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
679 def addPositionXY(self, x, y): |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
680 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
681 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
682 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
683 def addPosition(self, p): |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
684 self.addPositionXY(p.x, p.y) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
685 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
686 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
687 self.positions[0].append(self.positions[0][-1]) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
688 self.positions[1].append(self.positions[1][-1]) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
689 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
690 @staticmethod |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
691 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
692 if lastCoordinate is None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
693 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
694 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
695 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
696 if withOrigin: |
211 | 697 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
698 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
699 def project(self, homography): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
700 return Trajectory(cvutils.projectTrajectory(homography, self.positions).tolist()) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
701 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
702 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
703 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
704 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
705 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
706 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
707 |
620
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
708 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
709 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
620
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
710 [x*nPixelsPerUnitDistance for x in self.positions[1]]] |
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
711 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
712 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
713 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
714 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
715 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
716 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
717 return self.positions[1] |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
718 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
719 def asArray(self): |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
720 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
721 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
722 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
723 # look for function that does min and max in one pass |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
724 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
725 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
726 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
727 # look for function that does min and max in one pass |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
728 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
729 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
730 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
731 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
732 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
733 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
734 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
735 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
736 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
737 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
738 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
739 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
740 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
741 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
742 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
743 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
744 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
745 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
746 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
747 |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
748 def multiply(self, alpha): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
749 '''Returns a new trajectory of the same length''' |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
750 return Trajectory([[alpha*x for x in self.getXCoordinates()], |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
751 [alpha*y for y in self.getYCoordinates()]]) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
752 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
753 def differentiate(self, doubleLastPosition = False): |
339 | 754 diff = Trajectory() |
755 for i in xrange(1, self.length()): | |
756 diff.addPosition(self[i]-self[i-1]) | |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
757 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
758 diff.addPosition(diff[-1]) |
339 | 759 return diff |
760 | |
16 | 761 def norm(self): |
762 '''Returns the list of the norms at each instant''' | |
763 # def add(x, y): return x+y | |
764 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
765 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
766 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
767 |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
768 # def cumulatedDisplacement(self): |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
769 # 'Returns the sum of the distances between each successive point' |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
770 # displacement = 0 |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
771 # for i in xrange(self.length()-1): |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
772 # displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
773 # return displacement |
49 | 774 |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
775 def computeCumulativeDistances(self): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
776 '''Computes the distance from each point to the next and the cumulative distance up to the point |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
777 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
778 self.distances = [] |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
779 self.cumulativeDistances = [0.] |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
780 p1 = self[0] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
781 cumulativeDistance = 0. |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
782 for i in xrange(self.length()-1): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
783 p2 = self[i+1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
784 self.distances.append(Point.distanceNorm2(p1,p2)) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
785 cumulativeDistance += self.distances[-1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
786 self.cumulativeDistances.append(cumulativeDistance) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
787 p1 = p2 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
788 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
789 def getDistance(self,i): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
790 '''Return the distance between points i and i+1''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
791 if i < self.length()-1: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
792 return self.distances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
793 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
794 print('Index {} beyond trajectory length {}-1'.format(i, self.length())) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
795 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
796 def getCumulativeDistance(self, i): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
797 '''Return the cumulative distance between the beginning and point i''' |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
798 if i < self.length(): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
799 return self.cumulativeDistances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
800 else: |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
801 print('Index {} beyond trajectory length {}'.format(i, self.length())) |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
802 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
803 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
804 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity) |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
805 have a cosine with refDirection is smaller than cosineThreshold''' |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
806 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
807 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
808 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
809 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
810 count += 1 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
811 return count >= lengthThreshold |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
812 |
49 | 813 def wiggliness(self): |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
814 return self.getCumulativeDistance(self.length()-1)/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) |
49 | 815 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
816 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
817 '''Returns a list of the indices at which the trajectory |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
818 intersects with the segment of extremities p1 and p2 |
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
819 the list is empty if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
820 indices = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
821 intersections = [] |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
822 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
823 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
824 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
825 q2=self.__getitem__(i+1) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
826 p = utils.segmentIntersection(q1, q2, p1, p2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
827 if p is not None: |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
828 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
829 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
830 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
831 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
832 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
833 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
834 indices.append(i+ratio) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
835 intersections.append(p) |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
836 return indices |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
837 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
838 def getLineIntersections(self, p1, p2): |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
839 '''Returns a list of the indices at which the trajectory |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
840 intersects with the segment of extremities p1 and p2 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
841 the list is empty if there is no crossing''' |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
842 indices = [] |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
843 intersections = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
844 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
845 for i in xrange(self.length()-1): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
846 q1=self.__getitem__(i) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
847 q2=self.__getitem__(i+1) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
848 p = utils.segmentLineIntersection(p1, p2, q1, q2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
849 if p is not None: |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
850 if q1.x != q2.x: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
851 ratio = (p.x-q1.x)/(q2.x-q1.x) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
852 elif q1.y != q2.y: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
853 ratio = (p.y-q1.y)/(q2.y-q1.y) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
854 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
855 ratio = 0 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
856 indices.append(i+ratio) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
857 intersections.append(p) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
858 return indices, intersections |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
859 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
860 def getTrajectoryInInterval(self, inter): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
861 'Returns all position between index inter.first and index.last (included)' |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
862 if inter.first >=0 and inter.last<= self.length(): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
863 return Trajectory([self.positions[0][inter.first:inter.last+1], |
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
864 self.positions[1][inter.first:inter.last+1]]) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
865 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
866 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
867 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
868 if shapelyAvailable: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
869 def getTrajectoryInPolygon(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
870 '''Returns the trajectory built with the set of points inside the (shapely) polygon''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
871 traj = Trajectory() |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
872 points = [p.asShapely() for p in self] |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
873 for p in pointsInPolygon(points, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
874 traj.addPositionXY(p.x, p.y) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
875 return traj |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
876 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
877 def proportionInPolygon(self, polygon, minProportion = 0.5): |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
878 pointsIn = pointsInPolygon([p.asShapely() for p in self], polygon) |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
879 lengthThreshold = float(self.length())*minProportion |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
880 return len(pointsIn) >= lengthThreshold |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
881 else: |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
882 def getTrajectoryInPolygon(self, polygon): |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
883 '''Returns the trajectory built with the set of points inside the polygon |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
884 (array of Nx2 coordinates of the polygon vertices)''' |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
885 traj = Trajectory() |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
886 for p in self: |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
887 if p.inPolygon(polygon): |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
888 traj.addPosition(p) |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
889 return traj |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
890 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
891 def proportionInPolygon(self, polygon, minProportion = 0.5): |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
892 pointsInPolygon = [p.inPolygon(polygon) for p in self] |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
893 lengthThreshold = float(self.length())*minProportion |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
894 return len(pointsInPolygon) >= lengthThreshold |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
895 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
896 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
897 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
898 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
899 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
900 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
901 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
902 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
903 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
904 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
905 def __init__(self, S = None, Y = None, lanes = None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
906 if S is None or Y is None or len(S) != len(Y): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
907 self.positions = [[],[]] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
908 if S is not None and Y is not None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
909 print("S and Y coordinates of different lengths\nInitializing to empty lists") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
910 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
911 self.positions = [S,Y] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
912 if lanes is None or len(lanes) != self.length(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
913 self.lanes = [] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
914 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
915 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
916 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
917 def __getitem__(self,i): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
918 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
919 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
920 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
921 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
922 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
923 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
924 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
925 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
926 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
927 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
928 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
929 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
930 def addPositionSYL(self, s, y, lane): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
931 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
932 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
933 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
934 def addPosition(self, p): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
935 'Adds position in the point format for curvilinear of list with 3 values' |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
936 self.addPositionSYL(p[0], p[1], p[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
937 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
938 def setPosition(self, i, s, y, lane): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
939 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
940 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
941 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
942 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
943 def differentiate(self, doubleLastPosition = False): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
944 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
945 p1 = self[0] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
946 for i in xrange(1, self.length()): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
947 p2 = self[i] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
948 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], p1[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
949 p1=p2 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
950 if doubleLastPosition and self.length() > 1: |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
951 diff.addPosition(diff[-1]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
952 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
953 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
954 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
955 '''Returns a list of the indices at which the trajectory |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
956 goes past the curvilinear coordinate S1 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
957 (in provided lane if lane is not None) |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
958 the list is empty if there is no crossing''' |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
959 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
960 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
961 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
962 q2=self.__getitem__(i+1) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
963 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
964 indices.append(i+(S1-q1[0])/(q2[0]-q1[0])) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
965 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
966 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
967 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
968 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
969 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
970 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
971 userTypeNames = ['unknown', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
972 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
973 'pedestrian', |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
974 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
975 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
976 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
977 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
978 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
979 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
980 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
663
diff
changeset
|
981 class MovingObject(STObject, VideoFilenameAddable): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
982 '''Class for moving objects: a spatio-temporal object |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
983 with a trajectory and a geometry (constant volume over time) |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
984 and a usertype (e.g. road user) coded as a number (see userTypeNames) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
985 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
986 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
987 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
988 super(MovingObject, self).__init__(num, timeInterval) |
16 | 989 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
990 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
991 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
992 self.userType = userType |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
993 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
994 # compute bounding polygon from trajectory |
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
995 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
996 @staticmethod |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
997 def generate(p, v, timeInterval): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
998 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
999 return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1000 |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1001 @staticmethod |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1002 def concatenate(obj1, obj2, num = None): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1003 '''Concatenates two objects supposed to overlap temporally ''' |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1004 commonTimeInterval = obj1.commonTimeInterval(obj2) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1005 if commonTimeInterval.empty(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1006 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval())) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1007 return None |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1008 else: |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1009 if num is None: |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1010 newNum = obj1.getNum() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1011 else: |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1012 newNum = num |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1013 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval()) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1014 # positions |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1015 positions = Trajectory() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1016 for t in newTimeInterval: |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1017 nTotal = 0. |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1018 p = Point(0.,0.) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1019 for obj in [obj1, obj2]: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1020 if obj.existsAtInstant(t): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1021 if obj.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1022 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1023 else: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1024 n = 1. |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1025 p += obj.getPositionAtInstant(t).multiply(n) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1026 nTotal += n |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1027 assert nTotal>0, 'there should be at least one point for each instant' |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1028 positions.addPosition(p.divide(nTotal)) |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1029 # velocities: if any |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1030 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1031 velocities = Trajectory() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1032 for t in newTimeInterval: |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1033 nTotal = 0. |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1034 p = Point(0.,0.) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1035 for obj in [obj1, obj2]: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1036 if obj.existsAtInstant(t): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1037 if obj.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1038 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1039 else: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1040 n = 1. |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1041 p += obj.getVelocityAtInstant(t).multiply(n) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1042 nTotal += n |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1043 assert n>0, 'there should be at least one point for each instant' |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1044 velocities.addPosition(p.divide(nTotal)) |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1045 else: |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1046 velocities = None |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1047 # TODO object envelop (polygon) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1048 # user type |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1049 if obj1.getUserType() != obj2.getUserType(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1050 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()])) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1051 |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1052 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType()) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1053 if obj1.hasFeatures() and obj2.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1054 newObject.features = obj1.getFeatures()+obj2.getFeatures() |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1055 return newObject |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1056 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1057 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1058 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1059 restricted to time interval inter''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
1060 intersection = TimeInterval.intersection(inter, self.getTimeInterval()) |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1061 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1062 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1063 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1064 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1065 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1066 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1067 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1068 print 'The object does not exist at '+str(inter) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1069 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1070 |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1071 def getObjectsInMask(self, mask, homography = None, minLength = 1): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1072 '''Returns new objects made of the positions in the mask |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1073 mask is in the destination of the homography space''' |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1074 if homography is not None: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1075 self.projectedPositions = self.positions.project(homography) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1076 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1077 self.projectedPositions = self.positions |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1078 def inMask(positions, i, mask): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1079 p = positions[i] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1080 return mask[p.y, p.x] != 0. |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1081 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1082 #subTimeIntervals self.getFirstInstant()+i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1083 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1084 # 'connected components' in subTimeIntervals |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1085 l = 0 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1086 intervalLabels = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1087 prev = True |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1088 for i in filteredIndices: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1089 if i: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1090 if not prev: # new interval |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1091 l += 1 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1092 intervalLabels.append(l) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1093 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1094 intervalLabels.append(-1) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1095 prev = i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1096 intervalLabels = array(intervalLabels) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1097 subObjects = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1098 for l in set(intervalLabels): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1099 if l >= 0: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1100 if sum(intervalLabels == l) >= minLength: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1101 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1102 subTimeInterval = TimeInterval(min(times), max(times)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1103 subObjects.append(self.getObjectInTimeInterval(subTimeInterval)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1104 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1105 return subObjects |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1106 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1107 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1108 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1109 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1110 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1111 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1112 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1113 def getUserType(self): |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1114 return self.userType |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1115 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1116 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1117 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1118 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1119 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1120 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1121 |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1122 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1123 if hasattr(self, 'curvilinearPositions'): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1124 if lane is None: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1125 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1126 if withOrigin: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1127 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1128 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1129 instants = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1130 coords = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1131 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1132 if p[2] == lane: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1133 instants.append(t) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1134 coords.append(p[0]) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1135 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1136 instants.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1137 coords.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1138 plot(instants, coords, options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1139 if withOrigin and len(instants)>0: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1140 plot([instants[0]], [coords[0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1141 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1142 print('Object {} has no curvilinear positions'.format(self.getNum())) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1143 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1144 def setUserType(self, userType): |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1145 self.userType = userType |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1146 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1147 def setFeatures(self, features): |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1148 self.features = [features[i] for i in self.featureNumbers] |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1149 |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1150 def getFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1151 return self.features |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1152 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1153 def hasFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1154 return (self.features is not None) |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1155 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1156 def getFeature(self, i): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1157 if self.hasFeatures() and i<len(self.features): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1158 return self.features[i] |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1159 else: |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1160 return None |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1161 |
666
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1162 def getFeatureNumbers(self): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1163 '''Returns the number of features at each instant |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1164 dict instant -> number of features''' |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1165 if self.hasFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1166 featureNumbers = {} |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1167 for t in self.getTimeInterval(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1168 n = 0 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1169 for f in self.getFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1170 if f.existsAtInstant(t): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1171 n += 1 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1172 featureNumbers[t]=n |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1173 return featureNumbers |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1174 else: |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1175 print('Object {} has no features loaded.'.format(self.getNum())) |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1176 return None |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1177 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1178 def getSpeeds(self, nInstantsIgnoredAtEnds = 0): |
682 | 1179 speeds = self.getVelocities().norm() |
1180 if nInstantsIgnoredAtEnds > 0: | |
1181 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.))) | |
1182 return speeds[n:-n] | |
1183 else: | |
1184 return speeds | |
49 | 1185 |
633
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1186 def getSpeedIndicator(self): |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1187 from indicators import SeverityIndicator |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1188 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()}) |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1189 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1190 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1191 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1192 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1193 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1194 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1195 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1196 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1197 return self.positions[i-self.getFirstInstant()] |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1198 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1199 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1200 return self.velocities[i-self.getFirstInstant()] |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1201 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1202 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1203 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1204 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1205 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1206 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1207 |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1208 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1209 if withFeatures and self.hasFeatures(): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1210 for f in self.getFeatures(): |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1211 f.positions.plot('r', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1212 self.positions.plot('bx-', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1213 else: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1214 self.positions.plot(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
1215 |
621
582508610572
merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1216 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): |
582508610572
merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1217 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) |
22 | 1218 |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1219 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.): |
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1220 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication) |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
1221 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1222 def speedDiagnostics(self, framerate = 1., display = False): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1223 speeds = framerate*self.getSpeeds() |
377 | 1224 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 1225 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0])) |
377 | 1226 if display: |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
1227 from matplotlib.pyplot import figure, axis |
377 | 1228 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1229 self.plot() |
379 | 1230 axis('equal') |
377 | 1231 figure(2) |
1232 plot(list(self.getTimeInterval()), speeds) | |
1233 | |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1234 @staticmethod |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1235 def minMaxDistance(obj1, obj2): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1236 '''Computes the min max distance used for feature grouping''' |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1237 commonTimeInterval = obj1.commonTimeInterval(obj2) |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1238 if not commonTimeInterval.empty(): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1239 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1240 maxDistance = minDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1241 for t in list(commonTimeInterval)[1:]: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1242 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1243 if d<minDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1244 minDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1245 elif d>maxDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1246 maxDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1247 return int(commonTimeInterval.length()), minDistance, maxDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1248 else: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1249 return int(commonTimeInterval.length()), None, None |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1250 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1251 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1252 def distances(obj1, obj2, instant1, _instant2 = None): |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1253 '''Returns the distances between all features of the 2 objects |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1254 at the same instant instant1 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1255 or at instant1 and instant2''' |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1256 if _instant2 is None: |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1257 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1258 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1259 instant2 = _instant2 |
546 | 1260 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1261 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1262 return cdist(positions1, positions2, metric = 'euclidean') | |
1263 | |
1264 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1265 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1266 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1267 |
1268 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1269 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1270 return MovingObject.distances(obj1, obj2, instant1, instant2).max() |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1271 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1272 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1273 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1274 at instant there are the most features''' |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1275 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1276 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1277 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1278 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1279 n = len([f for f in self.features if f.existsAtInstant(t)]) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1280 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1281 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1282 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1283 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1284 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1285 print('Load features to compute a maximum size') |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1286 return None |
619
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1287 |
550 | 1288 def setRoutes(self, startRouteID, endRouteID): |
1289 self.startRouteID = startRouteID | |
1290 self.endRouteID = endRouteID | |
546 | 1291 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1292 def getInstantsCrossingLane(self, p1, p2): |
55
88d5ee5ac164
updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
54
diff
changeset
|
1293 '''Returns the instant(s) |
88d5ee5ac164
updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
54
diff
changeset
|
1294 at which the object passes from one side of the segment to the other |
88d5ee5ac164
updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
54
diff
changeset
|
1295 empty list if there is no crossing''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1296 indices, intersections = self.positions.getIntersections(p1, p2) |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1297 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1298 |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1299 @staticmethod |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1300 def computePET(obj1, obj2, collisionDistanceThreshold): |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1301 '''Post-encroachment time based on distance threshold |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1302 |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1303 Returns the smallest time difference when the object positions are within collisionDistanceThreshold''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1304 #for i in xrange(int(obj1.length())-1): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1305 # for j in xrange(int(obj2.length())-1): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1306 # inter = segmentIntersection(obj1.getPositionAt(i), obj1.getPositionAt(i+1), obj2.getPositionAt(i), obj2.getPositionAt(i+1)) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1307 positions1 = [p.astuple() for p in obj1.getPositions()] |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1308 positions2 = [p.astuple() for p in obj2.getPositions()] |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1309 pets = zeros((int(obj1.length()), int(obj2.length()))) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1310 for i,t1 in enumerate(obj1.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1311 for j,t2 in enumerate(obj2.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1312 pets[i,j] = abs(t1-t2) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1313 distances = cdist(positions1, positions2, metric = 'euclidean') |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1314 if distances.min() <= collisionDistanceThreshold: |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1315 return pets[distances <= collisionDistanceThreshold].min() |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1316 else: |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1317 return None |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1318 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1319 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
1320 '''Predicts the position of object at instant+deltaT, |
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
1321 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1322 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
1323 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1324 def projectCurvilinear(self, alignments, ln_mv_av_win=3): |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1325 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1326 (curvilinearPositions instance) which holds information about the |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1327 curvilinear coordinates using alignment metadata. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1328 From Paul St-Aubin's PVA tools |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1329 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1330 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1331 Input: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1332 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1333 alignments = a list of alignments, where each alignment is a list of |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1334 points (class Point). |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1335 ln_mv_av_win = moving average window (in points) in which to smooth |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1336 lane changes. As per tools_math.cat_mvgavg(), this term |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1337 is a search *radius* around the center of the window. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1338 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1339 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1340 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1341 self.curvilinearPositions = CurvilinearTrajectory() |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1342 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1343 #For each point |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1344 for i in xrange(int(self.length())): |
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1345 result = getSYfromXY(self.getPositionAt(i), alignments) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1346 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1347 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1348 if(result is None): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1349 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1350 else: |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1351 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1352 self.curvilinearPositions.addPositionSYL(S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1353 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1354 ## Go back through points and correct lane |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1355 #Run through objects looking for outlier point |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1356 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win) |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1357 ## Recalculate projected point to new lane |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1358 lanes = self.curvilinearPositions.getLanes() |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1359 if(lanes != smoothed_lanes): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1360 for i in xrange(len(lanes)): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1361 if(lanes[i] != smoothed_lanes[i]): |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1362 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1363 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1364 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1365 if(result is None): |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1366 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1367 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1368 else: |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1369 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1370 self.curvilinearPositions.setPosition(i, S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1371 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1372 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1373 '''Computes the trajectory as the mean of all features |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1374 if a feature exists, its position is |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1375 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1376 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1377 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1378 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1379 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1380 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1381 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1382 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1383 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1384 for i in xrange(nFeatures): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1385 for j in xrange(i): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1386 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1387 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1388 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1389 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1390 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1391 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1392 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1393 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1394 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi)) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1395 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1396 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1397 ### |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1398 # User Type Classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1399 ### |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1400 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1401 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1402 slow: non-motorized -> pedestrians |
607 | 1403 fast: motorized -> cars |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1404 |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1405 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile: |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1406 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1407 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1408 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1409 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1410 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1411 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1412 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1413 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1414 '''Classifies road user per road user type |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1415 speedProbabilities are functions return P(speed|class) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1416 in a dictionary indexed by user type names |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1417 Returns probabilities for each class |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1418 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1419 for simple threshold classification, simply pass non-overlapping indicator functions (membership) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1420 e.g. def indic(x): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1421 if abs(x-mu) < sigma: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1422 return 1 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1423 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1424 return x''' |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1425 if not hasattr(self, 'aggregatedSpeed'): |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1426 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
581
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1427 userTypeProbabilities = {} |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1428 for userTypename in speedProbabilities: |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1429 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1430 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1431 return userTypeProbabilities |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1432 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1433 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1434 '''Initializes the data structures for classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1435 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1436 TODO? compute speed for longest feature?''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1437 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1438 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1439 self.appearanceClassifier = pedBikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1440 elif self.aggregatedSpeed < bikeCarSpeedThreshold: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1441 self.appearanceClassifier = bikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1442 else: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1443 class CarClassifier: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1444 def predict(self, hog): |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1445 return userType2Num['car'] |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1446 self.appearanceClassifier = CarClassifier() |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1447 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1448 self.userTypes = {} |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1449 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1450 def classifyUserTypeHoGSVMAtInstant(self, img, instant, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800): |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1451 '''Extract the image box around the object and |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1452 applies the SVM model on it''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1453 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = cvutils.imageBox(img, self, instant, homography, width, height, px, py, minNPixels) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
682
diff
changeset
|
1454 if croppedImg is not None and len(croppedImg) > 0: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1455 hog = cvutils.HOG(croppedImg)#HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1456 self.userTypes[instant] = int(self.appearanceClassifier.predict(hog)) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1457 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1458 self.userTypes[instant] = userType2Num['unknown'] |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1459 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1460 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1461 '''Agregates SVM detections in each image and returns probability |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1462 (proportion of instants with classification in each category) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1463 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1464 images is a dictionary of images indexed by instant |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1465 With default parameters, the general (ped-bike-car) classifier will be used |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1466 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1467 Considered categories are the keys of speedProbabilities''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1468 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1469 print('Initilize the data structures for classification by HoG-SVM') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1470 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1471 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1472 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1473 for t in self.getTimeInterval(): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1474 if t not in self.userTypes: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1475 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1476 # compute P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1477 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1478 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.} |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1479 else: |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1480 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1481 # result is P(Class|Appearance) x P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1482 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1483 for t in self.userTypes: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1484 nInstantsUserType[self.userTypes[t]] = nInstantsUserType.get(self.userTypes[t], 0) + 1 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1485 for userTypeNum in userTypeProbabilities: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1486 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum] |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1487 # class is the user type that maximizes usertype probabilities |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1488 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1489 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1490 def classifyUserTypeArea(self, areas, homography): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1491 '''Classifies the object based on its location (projected to image space) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1492 areas is a dictionary of matrix of the size of the image space |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1493 for different road users possible locations, indexed by road user type names |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1494 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1495 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1496 skip frames at beginning/end?''' |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1497 print('not implemented/tested yet') |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1498 if not hasattr(self, projectedPositions): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1499 if homography is not None: |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1500 self.projectedPositions = obj.positions.project(homography) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1501 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1502 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1503 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1504 for p in self.projectedPositions: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1505 for userTypename in areas: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1506 if areas[userTypename][p.x, p.y] != 0: |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1507 possibleUserTypes[userType2Enum[userTypename]] += 1 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1508 # what to do: threshold for most common type? self.setUserType() |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1509 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1510 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1511 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1512 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1513 'A positive result indicates that the road users are getting closer' |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1514 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1515 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
ad21db62b785
bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
115
diff
changeset
|
1516 return Point.dot(deltap, deltav) |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1517 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1518 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1519 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1520 'A positive result indicates that the road users are getting closer' |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1521 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1522 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1523 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1524 |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1525 ################## |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1526 # Annotations |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1527 ################## |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1528 |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1529 class BBAnnotation(MovingObject): |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1530 '''Class for a series of ground truth annotations using bounding boxes |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1531 Its center is the center of the containing shape |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1532 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1533 By default in image space |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1534 ''' |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1535 |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1536 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']): |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1537 super(BBAnnotation, self).__init__(num, timeInterval, userType = userType) |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1538 self.topLeftPositions = topLeftPositions.getPositions() |
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1539 self.bottomRightPositions = bottomRightPositions.getPositions() |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1540 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1541 def computeCentroidTrajectory(self, homography = None): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1542 self.positions = self.topLeftPositions.add(self.bottomRightPositions).multiply(0.5) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1543 if homography is not None: |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1544 self.positions = self.positions.project(homography) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1545 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1546 def matches(self, obj, instant, matchingDistance): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1547 '''Indicates if the annotation matches obj (MovingObject) |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1548 with threshold matchingDistance |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1549 Returns distance if below matchingDistance, matchingDistance+1 otherwise |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1550 (returns an actual value, otherwise munkres does not terminate)''' |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1551 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant)) |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1552 if d < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1553 return d |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1554 else: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1555 return matchingDistance + 1 |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1556 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1557 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1558 '''Computes the CLEAR MOT metrics |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1559 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1560 Reference: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1561 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008) |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1562 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1563 objects and annotations are supposed to in the same space |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1564 current implementation is BBAnnotations (bounding boxes) |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1565 mathingDistance is threshold on matching between annotation and object |
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1566 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1567 TO: tracker output (objects) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1568 GT: ground truth (annotations) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1569 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1570 Output: returns motp, mota, mt, mme, fpt, gt |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1571 mt number of missed GT.frames (sum of the number of GT not detected in each frame) |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1572 mme number of mismatches |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1573 fpt number of false alarm.frames (tracker objects without match in each frame) |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1574 gt number of GT.frames |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1575 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1576 if returnMatches is True, return as 2 new arguments the GT and TO matches |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1577 matches is a dict |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1578 matches[i] is the list of matches for GT/TO i |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1579 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1580 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm) |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1581 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1582 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance? |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1583 (add argument useDistanceForWeights = False)''' |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1584 from munkres import Munkres |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1585 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1586 munk = Munkres() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1587 dist = 0. # total distance between GT and TO |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1588 ct = 0 # number of associations between GT and tracker output in each frame |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1589 gt = 0 # number of GT.frames |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1590 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1591 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1592 mme = 0 # number of mismatches |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1593 matches = {} # match[i] is the tracker track associated with GT i (using object references) |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1594 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1595 gtMatches = {a.getNum():{} for a in annotations} |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1596 toMatches = {o.getNum():{} for o in objects} |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1597 for t in xrange(firstInstant, lastInstant+1): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1598 previousMatches = matches.copy() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1599 # go through currently matched GT-TO and check if they are still matched withing matchingDistance |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1600 toDelete = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1601 for a in matches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1602 if a.existsAtInstant(t) and matches[a].existsAtInstant(t): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1603 d = a.matches(matches[a], t, matchingDistance) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1604 if d < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1605 dist += d |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1606 else: |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1607 toDelete.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1608 else: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1609 toDelete.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1610 for a in toDelete: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1611 del matches[a] |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1612 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1613 # match all unmatched GT-TO |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1614 matchedGTs = matches.keys() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1615 matchedTOs = matches.values() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1616 costs = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1617 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1618 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1619 nGTs = len(matchedGTs)+len(unmatchedGTs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1620 nTOs = len(matchedTOs)+len(unmatchedTOs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1621 if len(unmatchedTOs) > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1622 for a in unmatchedGTs: |
595
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1623 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs]) |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1624 if len(costs) > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1625 newMatches = munk.compute(costs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1626 for k,v in newMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1627 if costs[k][v] < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1628 matches[unmatchedGTs[k]]=unmatchedTOs[v] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1629 dist += costs[k][v] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1630 if debug: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1631 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.iteritems()])) |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1632 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1633 for a,o in matches.iteritems(): |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1634 gtMatches[a.getNum()][t] = o.getNum() |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1635 toMatches[o.getNum()][t] = a.getNum() |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1636 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1637 # compute metrics elements |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1638 ct += len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1639 mt += nGTs-len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1640 fpt += nTOs-len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1641 gt += nGTs |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1642 # compute mismatches |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1643 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1644 mismatches = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1645 for a in matches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1646 if a in previousMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1647 if matches[a] != previousMatches[a]: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1648 mismatches.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1649 elif matches[a] in previousMatches.values(): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1650 mismatches.append(matches[a]) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1651 for a in previousMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1652 if a not in matches and previousMatches[a] in matches.values(): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1653 mismatches.append(previousMatches[a]) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1654 if debug: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1655 for mm in set(mismatches): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1656 print type(mm), mm.getNum() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1657 # some object mismatches may appear twice |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1658 mme += len(set(mismatches)) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1659 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1660 if ct > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1661 motp = dist/ct |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1662 else: |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1663 motp = None |
595
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1664 if gt > 0: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1665 mota = 1.-float(mt+fpt+mme)/gt |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1666 else: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1667 mota = None |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1668 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1669 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1670 else: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1671 return motp, mota, mt, mme, fpt, gt |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1672 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1673 def plotRoadUsers(objects, colors): |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1674 '''Colors is a PlottingPropertyValues instance''' |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1675 from matplotlib.pyplot import figure, axis |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1676 figure() |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1677 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1678 obj.plot(colors.get(obj.userType)) |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1679 axis('equal') |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1680 |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1681 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1682 if __name__ == "__main__": |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1683 import doctest |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1684 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1685 suite = doctest.DocFileSuite('tests/moving.txt') |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1686 #suite = doctest.DocTestSuite() |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1687 unittest.TextTestRunner().run(suite) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1688 #doctest.testmod() |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1689 #doctest.testfile("example.txt") |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1690 if shapelyAvailable: |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1691 suite = doctest.DocFileSuite('tests/moving_shapely.txt') |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1692 unittest.TextTestRunner().run(suite) |