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annotate python/moving.py @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 0ce2210790b1
children 31604ef1cad4
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils
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5 import cvutils
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6
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7 from math import sqrt
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8 from numpy import median
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9
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10 try:
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11 from shapely.geometry import Polygon, Point as shapelyPoint
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12 from shapely.prepared import prep
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13 shapelyAvailable = True
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14 except ImportError:
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15 print('Shapely library could not be loaded')
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16 shapelyAvailable = False
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18 __metaclass__ = type
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19
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20 class Interval(object):
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21 '''Generic interval: a subset of real numbers (not iterable)'''
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22 def __init__(self, first=0, last=-1, revert = False):
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23 if revert and last<first:
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24 self.first=last
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25 self.last=first
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26 else:
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27 self.first=first
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28 self.last=last
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30 def __str__(self):
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31 return '[{0}, {1}]'.format(self.first, self.last)
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32
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33 def __repr__(self):
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34 return self.__str__()
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35
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36 def empty(self):
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37 return self.first > self.last
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38
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39 def center(self):
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40 return (self.first+self.last)/2.
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41
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42 def length(self):
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43 '''Returns the length of the interval'''
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44 return float(max(0,self.last-self.first))
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46 def equal(self, i2):
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47 return self.first==i2.first and self.last == i2.last
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48
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49 def getList(self):
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50 return [self.first, self.last]
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51
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52 def contains(self, instant):
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53 return (self.first<=instant and self.last>=instant)
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55 def inside(self, interval2):
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56 '''Indicates if the temporal interval of self is comprised in interval2'''
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57 return (self.first >= interval2.first) and (self.last <= interval2.last)
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59 @classmethod
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60 def union(cls, interval1, interval2):
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61 '''Smallest interval comprising self and interval2'''
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62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last))
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63
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64 @classmethod
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65 def intersection(cls, interval1, interval2):
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66 '''Largest interval comprised in both self and interval2'''
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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68
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69 def distance(self, interval2):
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70 if not Interval.intersection(self, interval2).empty():
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71 return 0
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72 elif self.first > interval2.last:
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73 return self.first - interval2.last
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74 elif self.last < interval2.first:
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75 return interval2.first - self.last
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76 else:
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77 return None
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78
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79
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80 def unionIntervals(intervals):
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81 'returns the smallest interval containing all intervals'
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82 inter = intervals[0]
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83 for i in intervals[1:]:
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84 inter = Interval.union(inter, i)
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85 return inter
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86
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87
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88 class TimeInterval(Interval):
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included
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90
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91 For example: based on frame numbers (hence the modified length method)
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92 It may be modified directly by setting first and last'''
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93
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94 def __init__(self, first=0, last=-1):
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95 super(TimeInterval, self).__init__(first, last, False)
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96
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97 @staticmethod
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98 def fromInterval(inter):
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99 return TimeInterval(inter.first, inter.last)
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100
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101 def __getitem__(self, i):
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102 if not self.empty():
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103 return self.first+i
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104
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105 def __iter__(self):
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106 self.iterInstantNum = -1
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107 return self
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108
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109 def next(self):
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110 if self.iterInstantNum >= self.length()-1:
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111 raise StopIteration
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112 else:
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113 self.iterInstantNum += 1
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114 return self[self.iterInstantNum]
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115
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116 def length(self):
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117 '''Returns the length of the interval'''
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118 return float(max(0,self.last-self.first+1))
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119
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120 # class BoundingPolygon:
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121 # '''Class for a polygon bounding a set of points
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122 # with methods to create intersection, unions...
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123 # '''
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124 # We will use the polygon class of Shapely
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125
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126 class STObject(object):
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127 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
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128 (time interval and bounding polygon for positions (e.g. rectangle)).
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129
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130 It may not mean that the object is defined
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131 for all time instants within the time interval'''
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132
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133 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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134 self.num = num
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135 self.timeInterval = timeInterval
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136 self.boundingPolygon = boundingPolygon
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137
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diff changeset
138 def empty(self):
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139 return self.timeInterval.empty() or not self.boudingPolygon
2
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140
329
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diff changeset
141 def getNum(self):
211
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diff changeset
142 return self.num
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143
2
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144 def getFirstInstant(self):
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145 return self.timeInterval.first
2
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146
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147 def getLastInstant(self):
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148 return self.timeInterval.last
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149
43
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150 def getTimeInterval(self):
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151 return self.timeInterval
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152
108
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153 def existsAtInstant(self, t):
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154 return self.timeInterval.contains(t)
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155
43
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156 def commonTimeInterval(self, obj2):
290
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157 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
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158
290
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diff changeset
159 class Point(object):
25
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160 def __init__(self, x, y):
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161 self.x = x
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162 self.y = y
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163
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164 def __str__(self):
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165 return '(%f,%f)'%(self.x,self.y)
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166
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167 def __repr__(self):
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168 return self.__str__()
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169
184
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170 def __add__(self, other):
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171 return Point(self.x+other.x, self.y+other.y)
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172
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173 def __sub__(self, other):
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174 return Point(self.x-other.x, self.y-other.y)
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175
105
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176 def multiply(self, alpha):
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177 return Point(self.x*alpha, self.y*alpha)
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178
211
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179 def draw(self, options = 'o', **kwargs):
41
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180 from matplotlib.pylab import plot
211
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diff changeset
181 plot([self.x], [self.y], options, **kwargs)
41
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182
38
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183 def norm2Squared(self):
43
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184 '''2-norm distance (Euclidean distance)'''
38
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185 return self.x*self.x+self.y*self.y
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186
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187 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
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diff changeset
188 '''2-norm distance (Euclidean distance)'''
38
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189 return sqrt(self.norm2Squared())
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190
284
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191 def norm1(self):
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diff changeset
192 return abs(self.x)+abs(self.y)
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193
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194 def normMax(self):
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195 return max(abs(self.x),abs(self.y))
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196
64
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197 def aslist(self):
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198 return [self.x, self.y]
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199
203
e2f31813ade6 added code to display trajectories on videa
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200 def astuple(self):
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201 return (self.x, self.y)
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202
223
c31722fcc9de minor modifications for integer drawing in OpenCV
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203 def asint(self):
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204 return Point(int(self.x), int(self.y))
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205
372
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206 if shapelyAvailable:
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207 def asShapely(self):
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208 return shapelyPoint(self.x, self.y)
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209
98
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210 def project(self, homography):
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211 from numpy.core.multiarray import array
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212 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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213 return Point(projected[0], projected[1])
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214
372
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215 def inPolygonNoShapely(self, polygon):
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diff changeset
216 '''Indicates if the point x, y is inside the polygon
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diff changeset
217 (array of Nx2 coordinates of the polygon vertices)
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218
92
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diff changeset
219 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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220
372
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diff changeset
221 Use Polygon.contains if Shapely is installed'''
79
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diff changeset
222
372
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223 n = polygon.shape[0];
79
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diff changeset
224 counter = 0;
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225
372
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diff changeset
226 p1 = polygon[0,:];
79
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diff changeset
227 for i in range(n+1):
372
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diff changeset
228 p2 = polygon[i % n,:];
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diff changeset
229 if self.y > min(p1[1],p2[1]):
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diff changeset
230 if self.y <= max(p1[1],p2[1]):
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diff changeset
231 if self.x <= max(p1[0],p2[0]):
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diff changeset
232 if p1[1] != p2[1]:
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diff changeset
233 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
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diff changeset
234 if p1[0] == p2[0] or self.x <= xinters:
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diff changeset
235 counter+=1;
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diff changeset
236 p1=p2
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diff changeset
237 return (counter%2 == 1);
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diff changeset
238
49
1fb5606506ae re-arrangement
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diff changeset
239 @staticmethod
67
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diff changeset
240 def dot(p1, p2):
89
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diff changeset
241 'Scalar product'
67
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diff changeset
242 return p1.x*p2.x+p1.y*p2.y
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243
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diff changeset
244 @staticmethod
90
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diff changeset
245 def cross(p1, p2):
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diff changeset
246 'Cross product'
89
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diff changeset
247 return p1.x*p2.y-p1.y*p2.x
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248
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diff changeset
249 @staticmethod
378
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diff changeset
250 def cosine(p1, p2):
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diff changeset
251 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
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diff changeset
252
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diff changeset
253 @staticmethod
38
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diff changeset
254 def distanceNorm2(p1, p2):
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diff changeset
255 return (p1-p2).norm2()
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diff changeset
256
64
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diff changeset
257 @staticmethod
357
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diff changeset
258 def plotAll(points, **kwargs):
64
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diff changeset
259 from matplotlib.pyplot import scatter
357
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diff changeset
260 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64
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diff changeset
261
378
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diff changeset
262 def similarOrientation(self, refDirection, cosineThreshold):
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diff changeset
263 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
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diff changeset
264 return Point.cosine(self, refDirection) >= cosineThreshold
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diff changeset
265
372
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diff changeset
266 if shapelyAvailable:
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diff changeset
267 def pointsInPolygon(points, polygon):
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diff changeset
268 '''Optimized tests of a series of points within (Shapely) polygon '''
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diff changeset
269 prepared_polygon = prep(polygon)
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diff changeset
270 return filter(prepared_polygon.contains, points)
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diff changeset
271
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diff changeset
272
290
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parents: 288
diff changeset
273 class NormAngle(object):
288
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diff changeset
274 '''Alternate encoding of a point, by its norm and orientation'''
245
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diff changeset
275
250
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276 def __init__(self, norm, angle):
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diff changeset
277 self.norm = norm
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278 self.angle = angle
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279
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diff changeset
280 @staticmethod
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diff changeset
281 def fromPoint(p):
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diff changeset
282 from math import atan2
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diff changeset
283 norm = p.norm2()
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diff changeset
284 if norm > 0:
259
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parents: 258
diff changeset
285 angle = atan2(p.y, p.x)
339
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parents: 335
diff changeset
286 else:
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287 angle = 0.
250
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288 return NormAngle(norm, angle)
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289
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diff changeset
290 def __add__(self, other):
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diff changeset
291 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
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diff changeset
292 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
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293
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diff changeset
294 def getPoint(self):
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diff changeset
295 from math import cos, sin
255
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diff changeset
296 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
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297
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diff changeset
298
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diff changeset
299 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
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parents: 244
diff changeset
300 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
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parents: 249
diff changeset
301 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
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diff changeset
302
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diff changeset
303 def predictPosition(position, speedOrientation, control, maxSpeed = None):
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diff changeset
304 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
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parents: 249
diff changeset
305 speedOrientation is the other encoding of velocity, (speed, orientation)
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diff changeset
306 speedOrientation and control are NormAngle'''
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parents: 249
diff changeset
307 predictedSpeedTheta = speedOrientation+control
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
308 if maxSpeed:
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parents: 249
diff changeset
309 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
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parents: 249
diff changeset
310 predictedPosition = position+predictedSpeedTheta.getPoint()
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parents: 249
diff changeset
311 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
312
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
313
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
314 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
315 '''Class to represent 4-D flow vectors,
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parents: 182
diff changeset
316 ie a position and a velocity'''
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parents: 182
diff changeset
317 def __init__(self, position, velocity):
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parents: 182
diff changeset
318 'position and velocity should be Point instances'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
319 self.position = position
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
320 self.velocity = velocity
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
321
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parents: 182
diff changeset
322 def __add__(self, other):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
323 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
324
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parents: 182
diff changeset
325 def multiply(self, alpha):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
326 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
d70e9b36889c initial work on flow vectors and clustering algorithms
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parents: 182
diff changeset
327
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
328 def draw(self, options = '', **kwargs):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
329 from matplotlib.pylab import plot
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
330 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
331 self.position.draw(options+'x', **kwargs)
184
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parents: 182
diff changeset
332
d70e9b36889c initial work on flow vectors and clustering algorithms
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parents: 182
diff changeset
333 @staticmethod
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parents: 182
diff changeset
334 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms
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parents: 182
diff changeset
335 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
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parents: 182
diff changeset
336
359
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diff changeset
337 def intersection(p1, p2, dp1, dp2):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
338 '''Returns the intersection point between the two lines
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diff changeset
339 defined by the respective vectors (dp) and origin points (p)'''
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diff changeset
340 from numpy import matrix
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diff changeset
341 from numpy.linalg import linalg
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diff changeset
342 A = matrix([[dp1.y, -dp1.x],
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diff changeset
343 [dp2.y, -dp2.x]])
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diff changeset
344 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
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diff changeset
345 [dp2.y*p2.x-dp2.x*p2.y]])
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diff changeset
346
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diff changeset
347 if linalg.det(A) == 0:
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diff changeset
348 return None
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diff changeset
349 else:
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diff changeset
350 intersection = linalg.solve(A,B)
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diff changeset
351 return Point(intersection[0,0], intersection[1,0])
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diff changeset
352
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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diff changeset
353 def segmentIntersection(p1, p2, p3, p4):
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diff changeset
354 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
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diff changeset
355
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
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diff changeset
356 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
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parents: 148
diff changeset
357 return None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
358 else:
359
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
359 dp1 = p2-p1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
360 dp3 = p4-p3
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parents: 357
diff changeset
361 inter = intersection(p1, p3, dp1, dp3)
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parents: 357
diff changeset
362 if (inter != None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
363 and utils.inBetween(p1.x, p2.x, inter.x)
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parents: 357
diff changeset
364 and utils.inBetween(p3.x, p4.x, inter.x)
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parents: 357
diff changeset
365 and utils.inBetween(p1.y, p2.y, inter.y)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
366 and utils.inBetween(p3.y, p4.y, inter.y)):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
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parents: 357
diff changeset
367 return inter
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
368 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
369 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
370
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
371 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection
152
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parents: 148
diff changeset
372
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
373 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
374 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
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parents: 21
diff changeset
375
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
376 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
377
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
378 def __init__(self, positions=None):
331
40790d93200e corrected a bug for Trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
379 if positions != None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
380 self.positions = positions
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
381 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
382 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
383
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
384 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
385 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
386 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
387 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
388
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
389 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
390 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
391 t = Trajectory()
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parents: 255
diff changeset
392 for p in points:
dc1faa7287bd added the normal adaptation class
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parents: 255
diff changeset
393 t.addPosition(p)
dc1faa7287bd added the normal adaptation class
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parents: 255
diff changeset
394 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
395
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
396 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
397 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
398
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
399 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
400 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
401
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
402 def __str__(self):
39
e47168f6b694 corrected printing bug
Nicolas Saunier <nico@confins.net>
parents: 38
diff changeset
403 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
404
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
405 def __repr__(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
406 return str(self)
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
407
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
408 def __getitem__(self, i):
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
409 return Point(self.positions[0][i], self.positions[1][i])
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
410
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
411 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
412 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
413 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
414
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
415 def next(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
416 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
417 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
418 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
419 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
420 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
421
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
422 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
423 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
424 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
425 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
426
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
427 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
428 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
429
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
430 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
431 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
432 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
433
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
434 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
435 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
436
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
437 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
438 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
439 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
440
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
441 @staticmethod
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
442 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
443 from matplotlib.pylab import plot
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
444 if lastCoordinate == None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
445 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
446 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
447 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
448 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
449 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
450
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
451 def project(self, homography):
318
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
452 return Trajectory(cvutils.projectTrajectory(homography, self.positions))
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
453
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
454 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
455 Trajectory._draw(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
456
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
457 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
458 Trajectory._draw(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
459
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
460 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, 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
461 from matplotlib.pylab import plot
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
462 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
463 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]]
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
464 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
465
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
466 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
467 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
468
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
469 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
470 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
471
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
472 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
473 from numpy.core.multiarray import array
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
474 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
475
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
476 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
477 # 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
478 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
479
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
480 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
481 # 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
482 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
483
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
484 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
485 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
486 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
487 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
488 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
489 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
490 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
491 [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
492
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
493 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
494 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
495 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
496 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
497 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
498 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
499 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
500 [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
501
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
502 def differentiate(self):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
503 diff = Trajectory()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
504 for i in xrange(1, self.length()):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
505 diff.addPosition(self[i]-self[i-1])
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
506 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
507
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
508 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
509 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
510 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
511 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
512 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
513 from numpy import hypot
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
514 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
515
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
516 def cumulatedDisplacement(self):
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
517 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
518 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
519 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
520 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
521 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
522
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
523 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
524 '''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
525 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
526 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
527 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
528 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
529 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
530 count += 1
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
531 if count > lengthThreshold:
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
532 return True
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
533 return False
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
534
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
535
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
536 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
537 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
538
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
539 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
540 '''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
541 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
542 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
543 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
544
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
545 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
546 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
547 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
548 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
549 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
550 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
551 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
552 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
553 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
554 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
555 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
556 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
557 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
558
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
559 def getTrajectoryInInterval(self, inter):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
560 if inter.first >=0 and inter.last<= self.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
561 return Trajectory([self.positions[0][inter.first:inter.last],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
562 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
563 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
564 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
565
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
566 def getTrajectoryInPolygonNoShapely(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
567 '''Returns the trajectory built with the set of points inside the polygon
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
568 (array of Nx2 coordinates of the polygon vertices)'''
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
569 traj = Trajectory()
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
570 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
571 if p.inPolygonNoShapely(polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
572 traj.addPosition(p)
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
573 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
574
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
575 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
576 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
577 '''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
578 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
579 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
580 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
581 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
582 return traj
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
583
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
584 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
585 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
586 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
587
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
588 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
589 '''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
590 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
591 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
592
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
593 def __init__(self, S = [], Y = [], lanes = []):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
594 self.positions = [S,Y]
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
595 self.lanes = lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
596
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
597 def __getitem__(self,i):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
598 return [self.positions[0][i], self.positions[1][i], self.lanes[i]]
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
599
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
600 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
601 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
602
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
603 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
604 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
605
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
606 def addPosition(self, s, y, lane):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
607 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
608 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
609
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
610 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
611 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
612 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
613 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
614
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
615 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
616 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
617 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
618
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
619 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
620 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
621 '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
622 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
623 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
624 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
625 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
626
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
627 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
628
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
629 class MovingObject(STObject):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
630 '''Class for moving objects: a spatio-temporal object
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
631 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
632 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
633
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
634 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = None):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
635 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
636 self.positions = positions
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
637 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
638 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
639 self.userType = userType
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 290
diff changeset
640 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
641 # compute bounding polygon from trajectory
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
642
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
643 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
644 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
645 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
646 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
647 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
648 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
649 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
650 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
651 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
652 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
653 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
654 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
655 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
656
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
657 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
658 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
659
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
660 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
661 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
662
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
663 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
664 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
665
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
666 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
667 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
668
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
669 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
670 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
671 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
672 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
673 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
674
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
675 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
676 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
677
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
678 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
679 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
680
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
681 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
682 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
683
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
684 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
685 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
686
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
687 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
688 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
689
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
690 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
691 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
692
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
693 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
694 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
695
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
696 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
697 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
698
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
699 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
700 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
701
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
702 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
703 self.positions.draw(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
704
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
705 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
706 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
707
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
708 def play(self, videoFilename, homography = None):
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
709 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant())
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
710
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
711 def speedDiagnostics(self, framerate = 1., display = False):
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
712 from numpy import std
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
713 from scipy.stats import scoreatpercentile
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
714 speeds = framerate*self.getSpeeds()
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
715 coef = utils.linearRegression(range(len(speeds)), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
716 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
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
717 if display:
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
718 from matplotlib.pyplot import figure, plot, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
719 figure(1)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
720 self.draw()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
721 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
722 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
723 plot(list(self.getTimeInterval()), speeds)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
724
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
725 @staticmethod
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
726 def distances(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
727 from scipy.spatial.distance import cdist
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
728 positions1 = [f.getPositionAtInstant(instant).astuple() for f in obj1.features if f.existsAtInstant(instant)]
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
729 positions2 = [f.getPositionAtInstant(instant).astuple() for f in obj2.features if f.existsAtInstant(instant)]
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
730 return cdist(positions1, positions2, metric = 'euclidean')
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
731
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
732 @staticmethod
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
733 def minDistance(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
734 return MovingObject.distances(obj1, obj2, instant).min()
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
735
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
736 @staticmethod
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
737 def maxDistance(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
738 return MovingObject.distances(obj1, obj2, instant).max()
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
739
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
740 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
741 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
742 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
743 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
744 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
745 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
746 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
747 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
748 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
749 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
750 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
751 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
752 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
753 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
754 return None
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
755
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
756 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
757 '''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
758 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
759 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
760 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
761 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
762
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
763 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
764 '''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
765 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
766 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
767
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
768 def classifyUserTypeSpeed(self, threshold, statisticsFunc = median):
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
769 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
770 slow: non-motorized -> pedestrians
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
771 fast: motorized -> cars'''
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
772 if statisticsFunc(self.velocities.norm()) >= threshold:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
773 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
774 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
775 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
776
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
777 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
778 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
779 '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
780 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
781 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
782 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
783
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
784 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
785 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
786 '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
787 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
788 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
789
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
790 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
791 '''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
792 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
793 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
794 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
795 obj.draw(colors.get(obj.userType))
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
796 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
797
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
798
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
799 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
800 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
801 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
802 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
803 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
804 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
805 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
806 #doctest.testfile("example.txt")