Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 342:4d69486869a5
work on loading indicators
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 20 Jun 2013 15:47:33 -0400 |
parents | 9c1818a71c9c |
children | 74e437ab5f11 |
rev | line source |
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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 |
16 | 8 |
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9 #from shapely.geometry import Polygon |
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10 |
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11 __metaclass__ = type |
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12 |
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13 class Interval(object): |
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14 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 15 def __init__(self, first=0, last=-1, revert = False): |
16 if revert and last<first: | |
17 self.first=last | |
18 self.last=first | |
19 else: | |
20 self.first=first | |
21 self.last=last | |
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22 |
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23 def __str__(self): |
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24 return '[{0}, {1}]'.format(self.first, self.last) |
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25 |
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26 def __repr__(self): |
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27 return self.__str__() |
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28 |
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29 def empty(self): |
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30 return self.first > self.last |
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31 |
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32 def length(self): |
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33 '''Returns the length of the interval''' |
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34 return float(max(0,self.last-self.first)) |
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35 |
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36 def equal(self, i2): |
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37 return self.first==i2.first and self.last == i2.last |
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38 |
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39 def getList(self): |
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40 return [self.first, self.last] |
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41 |
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42 def contains(self, instant): |
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43 return (self.first<=instant and self.last>=instant) |
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44 |
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45 def inside(self, interval2): |
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46 '''Indicates if the temporal interval of self is comprised in interval2''' |
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47 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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48 |
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49 @classmethod |
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50 def union(cls, interval1, interval2): |
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51 '''Smallest interval comprising self and interval2''' |
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52 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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53 |
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54 @classmethod |
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55 def intersection(cls, interval1, interval2): |
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56 '''Largest interval comprised in both self and interval2''' |
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57 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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58 |
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59 def distance(self, interval2): |
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60 if not Interval.intersection(self, interval2).empty(): |
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61 return 0 |
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62 elif self.first > interval2.last: |
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63 return self.first - interval2.last |
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64 elif self.last < interval2.first: |
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65 return interval2.first - self.last |
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66 else: |
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67 return None |
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68 |
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69 |
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70 def unionIntervals(intervals): |
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71 'returns the smallest interval containing all intervals' |
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72 inter = intervals[0] |
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73 for i in intervals[1:]: |
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74 inter = Interval.union(inter, i) |
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75 return inter |
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76 |
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77 |
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78 class TimeInterval(Interval): |
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79 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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80 |
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81 For example: based on frame numbers (hence the modified length method) |
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82 It may be modified directly by setting first and last''' |
26 | 83 |
84 def __init__(self, first=0, last=-1): | |
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85 super(TimeInterval, self).__init__(first, last, False) |
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86 |
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87 @staticmethod |
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88 def fromInterval(inter): |
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89 return TimeInterval(inter.first, inter.last) |
26 | 90 |
27
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91 def __getitem__(self, i): |
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92 if not self.empty(): |
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93 return self.first+i |
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94 |
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95 def __iter__(self): |
107
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96 self.iterInstantNum = -1 |
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97 return self |
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98 |
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99 def next(self): |
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100 if self.iterInstantNum >= self.length()-1: |
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101 raise StopIteration |
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102 else: |
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103 self.iterInstantNum += 1 |
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104 return self[self.iterInstantNum] |
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105 |
26 | 106 def length(self): |
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107 '''Returns the length of the interval''' |
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108 return float(max(0,self.last-self.first+1)) |
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109 |
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110 # class BoundingPolygon: |
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111 # '''Class for a polygon bounding a set of points |
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112 # with methods to create intersection, unions... |
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113 # ''' |
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114 # We will use the polygon class of Shapely |
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115 |
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116 class STObject(object): |
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117 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 118 (time interval and bounding polygon for positions (e.g. rectangle)). |
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119 |
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120 It may not mean that the object is defined |
6 | 121 for all time instants within the time interval''' |
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122 |
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123 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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124 self.num = num |
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125 self.timeInterval = timeInterval |
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126 self.boundingPolygon = boundingPolygon |
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127 |
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128 def empty(self): |
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129 return self.timeInterval.empty() or not self.boudingPolygon |
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130 |
329
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131 def getNum(self): |
211 | 132 return self.num |
133 | |
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134 def getFirstInstant(self): |
40
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135 return self.timeInterval.first |
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136 |
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137 def getLastInstant(self): |
40
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138 return self.timeInterval.last |
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139 |
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140 def getTimeInterval(self): |
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141 return self.timeInterval |
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142 |
108
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143 def existsAtInstant(self, t): |
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144 return self.timeInterval.contains(t) |
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145 |
43
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146 def commonTimeInterval(self, obj2): |
290
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147 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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148 |
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149 class Point(object): |
25
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150 def __init__(self, x, y): |
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151 self.x = x |
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152 self.y = y |
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153 |
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154 def __str__(self): |
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155 return '(%f,%f)'%(self.x,self.y) |
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156 |
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157 def __repr__(self): |
98
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158 return self.__str__() |
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159 |
184
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160 def __add__(self, other): |
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161 return Point(self.x+other.x, self.y+other.y) |
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162 |
25
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163 def __sub__(self, other): |
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164 return Point(self.x-other.x, self.y-other.y) |
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165 |
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166 def multiply(self, alpha): |
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167 return Point(self.x*alpha, self.y*alpha) |
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168 |
211 | 169 def draw(self, options = 'o', **kwargs): |
41 | 170 from matplotlib.pylab import plot |
211 | 171 plot([self.x], [self.y], options, **kwargs) |
41 | 172 |
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173 def norm2Squared(self): |
43
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174 '''2-norm distance (Euclidean distance)''' |
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175 return self.x*self.x+self.y*self.y |
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176 |
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177 def norm2(self): |
288
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178 '''2-norm distance (Euclidean distance)''' |
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179 return sqrt(self.norm2Squared()) |
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180 |
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181 def norm1(self): |
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182 return abs(self.x)+abs(self.y) |
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183 |
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184 def normMax(self): |
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185 return max(abs(self.x),abs(self.y)) |
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186 |
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187 def aslist(self): |
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188 return [self.x, self.y] |
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189 |
203
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190 def astuple(self): |
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191 return (self.x, self.y) |
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192 |
223
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193 def asint(self): |
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194 return Point(int(self.x), int(self.y)) |
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195 |
98
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196 def project(self, homography): |
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197 from numpy.core.multiarray import array |
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198 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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199 return Point(projected[0], projected[1]) |
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200 |
79
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201 def inPolygon(self, poly): |
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202 '''Returns if the point x, y is inside the polygon. |
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203 The polygon is defined by the ordered list of points in poly |
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204 |
92
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205 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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206 |
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207 Use points_inside_poly from matplotlib.nxutils''' |
79
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208 |
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209 n = len(poly); |
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210 counter = 0; |
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211 |
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212 p1 = poly[0]; |
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213 for i in range(n+1): |
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214 p2 = poly[i % n]; |
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215 if self.y > min(p1.y,p2.y): |
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216 if self.y <= max(p1.y,p2.y): |
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217 if self.x <= max(p1.x,p2.x): |
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218 if p1.y != p2.y: |
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219 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x; |
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220 if p1.x == p2.x or self.x <= xinters: |
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221 counter+=1; |
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222 p1=p2 |
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223 return (counter%2 == 1); |
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224 |
49 | 225 @staticmethod |
67
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226 def dot(p1, p2): |
89
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227 'Scalar product' |
67
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228 return p1.x*p2.x+p1.y*p2.y |
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229 |
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230 @staticmethod |
90
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231 def cross(p1, p2): |
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232 'Cross product' |
89
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233 return p1.x*p2.y-p1.y*p2.x |
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234 |
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235 @staticmethod |
38
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236 def distanceNorm2(p1, p2): |
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237 return (p1-p2).norm2() |
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238 |
64
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239 @staticmethod |
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240 def plotAll(points, color='r'): |
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241 from matplotlib.pyplot import scatter |
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242 scatter([p.x for p in points],[p.y for p in points], c=color) |
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243 |
290
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244 class NormAngle(object): |
288
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245 '''Alternate encoding of a point, by its norm and orientation''' |
245
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246 |
250
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247 def __init__(self, norm, angle): |
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248 self.norm = norm |
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249 self.angle = angle |
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250 |
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251 @staticmethod |
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252 def fromPoint(p): |
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253 from math import atan2 |
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254 norm = p.norm2() |
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255 if norm > 0: |
259
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256 angle = atan2(p.y, p.x) |
339 | 257 else: |
258 angle = 0. | |
250
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259 return NormAngle(norm, angle) |
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260 |
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261 def __add__(self, other): |
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262 'a norm cannot become negative' |
255
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263 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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264 |
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265 def getPoint(self): |
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266 from math import cos, sin |
255
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267 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
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268 |
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269 |
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270 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
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271 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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272 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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273 |
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274 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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275 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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276 speedOrientation is the other encoding of velocity, (speed, orientation) |
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277 speedOrientation and control are NormAngle''' |
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278 predictedSpeedTheta = speedOrientation+control |
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279 if maxSpeed: |
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280 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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281 predictedPosition = position+predictedSpeedTheta.getPoint() |
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282 return predictedPosition, predictedSpeedTheta |
245
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283 |
244
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284 |
290
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285 class FlowVector(object): |
184
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286 '''Class to represent 4-D flow vectors, |
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287 ie a position and a velocity''' |
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288 def __init__(self, position, velocity): |
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289 'position and velocity should be Point instances' |
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290 self.position = position |
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291 self.velocity = velocity |
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292 |
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293 def __add__(self, other): |
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294 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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295 |
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296 def multiply(self, alpha): |
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297 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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298 |
211 | 299 def draw(self, options = '', **kwargs): |
184
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300 from matplotlib.pylab import plot |
211 | 301 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
302 self.position.draw(options+'x', **kwargs) | |
184
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303 |
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304 @staticmethod |
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305 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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306 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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307 |
152
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308 def segmentIntersection(p1, p2, p3, p4): |
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309 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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310 from numpy import matrix |
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311 from numpy.linalg import linalg, det |
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312 |
290
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313 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
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314 return None |
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315 else: |
258
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316 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]] |
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317 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]] |
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318 |
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319 A = matrix([[dp1.y, -dp1.x], |
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320 [dp2.y, -dp2.x]]) |
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321 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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322 [dp2.y*p3.x-dp2.x*p3.y]]) |
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323 |
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324 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0: |
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325 return None |
152
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326 else: |
258
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327 intersection = linalg.solve(A,B) |
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328 if (utils.inBetween(p1.x, p2.x, intersection[0,0]) |
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329 and utils.inBetween(p3.x, p4.x, intersection[0,0]) |
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330 and utils.inBetween(p1.y, p2.y, intersection[1,0]) |
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331 and utils.inBetween(p3.y, p4.y, intersection[1,0])): |
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332 return Point(intersection[0,0], intersection[1,0]) |
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333 else: |
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334 return None |
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335 |
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336 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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337 |
290
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338 class Trajectory(object): |
288
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339 '''Class for trajectories: temporal sequence of positions |
22 | 340 |
288
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341 The class is iterable''' |
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342 |
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343 def __init__(self, positions=None): |
331
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344 if positions != None: |
113
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345 self.positions = positions |
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346 else: |
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347 self.positions = [[],[]] |
43
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348 |
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349 @staticmethod |
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350 def load(line1, line2): |
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351 return Trajectory([[float(n) for n in line1.split(' ')], |
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352 [float(n) for n in line2.split(' ')]]) |
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353 |
256
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354 @staticmethod |
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355 def fromPointList(points): |
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356 t = Trajectory() |
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357 for p in points: |
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358 t.addPosition(p) |
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359 return t |
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360 |
327
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361 def __len__(self): |
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362 return len(self.positions[0]) |
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363 |
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364 def length(self): |
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365 return self.__len__() |
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366 |
16 | 367 def __str__(self): |
39 | 368 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 369 |
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370 def __repr__(self): |
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371 return str(self) |
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372 |
23
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373 def __getitem__(self, i): |
25
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374 return Point(self.positions[0][i], self.positions[1][i]) |
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375 |
22 | 376 def __iter__(self): |
377 self.iterInstantNum = 0 | |
378 return self | |
379 | |
380 def next(self): | |
381 if self.iterInstantNum >= self.length(): | |
382 raise StopIteration | |
383 else: | |
384 self.iterInstantNum += 1 | |
23
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385 return self[self.iterInstantNum-1] |
22 | 386 |
327
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387 def setPositionXY(self, i, x, y): |
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388 if i < self.__len__(): |
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389 self.positions[0][i] = x |
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390 self.positions[1][i] = y |
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391 |
327
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392 def setPosition(self, i, p): |
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393 self.setPositionXY(i, p.x, p.y) |
284
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394 |
71
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395 def addPositionXY(self, x, y): |
113
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396 self.positions[0].append(x) |
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397 self.positions[1].append(y) |
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398 |
71
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399 def addPosition(self, p): |
79
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400 self.addPositionXY(p.x, p.y) |
182
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401 |
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402 @staticmethod |
270
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403 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
7
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404 from matplotlib.pylab import plot |
203
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405 if lastCoordinate == None: |
270
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406 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
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407 elif 0 <= lastCoordinate <= len(positions[0]): |
270
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408 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
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409 if withOrigin: |
211 | 410 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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411 |
203
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412 def project(self, homography): |
318 | 413 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
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414 |
270
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415 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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416 Trajectory._draw(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
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417 |
270
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418 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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419 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
203
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420 |
270
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421 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
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422 from matplotlib.pylab import plot |
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423 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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424 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
270
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425 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
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started implementation of TimeInterval and Spatio-temporal object
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426 |
21
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427 def getXCoordinates(self): |
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428 return self.positions[0] |
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429 |
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430 def getYCoordinates(self): |
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431 return self.positions[1] |
92
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432 |
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433 def asArray(self): |
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434 from numpy.core.multiarray import array |
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435 return array(self.positions) |
21
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|
436 |
14
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437 def xBounds(self): |
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438 # look for function that does min and max in one pass |
258
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439 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
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|
440 |
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441 def yBounds(self): |
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442 # look for function that does min and max in one pass |
258
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443 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
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|
444 |
43
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445 def add(self, traj2): |
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diff
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446 '''Returns a new trajectory of the same length''' |
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447 if self.length() != traj2.length(): |
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448 print 'Trajectories of different lengths' |
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449 return None |
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450 else: |
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451 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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452 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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453 |
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454 def subtract(self, traj2): |
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455 '''Returns a new trajectory of the same length''' |
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456 if self.length() != traj2.length(): |
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457 print 'Trajectories of different lengths' |
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458 return None |
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|
459 else: |
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460 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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461 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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462 |
339 | 463 def differentiate(self): |
464 diff = Trajectory() | |
465 for i in xrange(1, self.length()): | |
466 diff.addPosition(self[i]-self[i-1]) | |
467 return diff | |
468 | |
16 | 469 def norm(self): |
470 '''Returns the list of the norms at each instant''' | |
471 # def add(x, y): return x+y | |
472 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
473 # return sqrt(sq) | |
248
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474 from numpy import hypot |
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475 return hypot(self.positions[0], self.positions[1]) |
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476 |
49 | 477 def cumulatedDisplacement(self): |
91
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478 'Returns the sum of the distances between each successive point' |
49 | 479 displacement = 0 |
480 for i in xrange(self.length()-1): | |
481 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
482 return displacement | |
483 | |
484 def wiggliness(self): | |
485 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
486 | |
83
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487 def getIntersections(self, p1, p2): |
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488 '''Returns a list of the indices at which the trajectory |
91
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489 intersects with the segment of extremities p1 and p2 |
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490 the list is empty if there is no crossing''' |
83
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491 indices = [] |
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|
492 |
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493 for i in xrange(self.length()-1): |
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494 q1=self.__getitem__(i) |
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495 q2=self.__getitem__(i+1) |
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496 p = utils.segmentIntersection(q1, q2, p1, p2) |
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497 if p: |
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498 if q1.x != q2.x: |
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499 ratio = (p.x-q1.x)/(q2.x-q1.x) |
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500 elif q1.y != q2.y: |
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501 ratio = (p.y-q1.y)/(q2.y-q1.y) |
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502 else: |
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503 ratio = 0 |
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504 indices.append(i+ratio) |
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505 return indices |
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|
506 |
43
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507 def getTrajectoryInInterval(self, inter): |
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508 if inter.first >=0 and inter.last<= self.length(): |
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|
509 return Trajectory([self.positions[0][inter.first:inter.last], |
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|
510 self.positions[1][inter.first:inter.last]]) |
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|
511 else: |
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|
512 return None |
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|
513 |
92
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514 def getTrajectoryInPolygon(self, polygon): |
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diff
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515 '''Returns the set of points inside the polygon |
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diff
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516 (array of Nx2 coordinates of the polygon vertices)''' |
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diff
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|
517 import matplotlib.nxutils as nx |
113
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diff
changeset
|
518 traj = Trajectory() |
92
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parents:
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diff
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|
519 result = nx.points_inside_poly(self.asArray().T, polygon) |
79
5d487f183fe2
added method to test points in polygons and tests
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diff
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|
520 for i in xrange(self.length()): |
92
a5ef9e40688e
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
521 if result[i]: |
113
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522 traj.addPositionXY(self.positions[0][i], self.positions[1][i]) |
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corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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diff
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|
523 return traj |
79
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74
diff
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|
524 |
5d487f183fe2
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parents:
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diff
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|
525 # version 2: use shapely polygon contains |
19 | 526 |
284
f2cf16ad798f
added LCSS for trajectories
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diff
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|
527 @staticmethod |
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528 def norm2LCSS(t1, t2, threshold): |
f2cf16ad798f
added LCSS for trajectories
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diff
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|
529 return utils.LCSS(t1, t2, threshold, Point.distanceNorm2) |
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diff
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|
530 |
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diff
changeset
|
531 @staticmethod |
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diff
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532 def normMaxLCSS(t1, t2, threshold): |
f2cf16ad798f
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diff
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|
533 return utils.LCSS(t1, t2, threshold, lambda p1, p2: (p1-p2).normMax()) |
f2cf16ad798f
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diff
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|
534 |
327
42f2b46ec210
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diff
changeset
|
535 class CurvilinearTrajectory(Trajectory): |
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diff
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|
536 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
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537 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
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diff
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|
538 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
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diff
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|
539 |
42f2b46ec210
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diff
changeset
|
540 def __init__(self, S = [], Y = [], lanes = []): |
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diff
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541 self.positions = [S,Y] |
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542 self.lanes = lanes |
42f2b46ec210
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diff
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|
543 |
42f2b46ec210
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|
544 def __getitem__(self,i): |
42f2b46ec210
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diff
changeset
|
545 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
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parents:
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diff
changeset
|
546 |
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parents:
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diff
changeset
|
547 def getSCoordinates(self): |
42f2b46ec210
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diff
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548 return self.getXCoordinates() |
42f2b46ec210
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diff
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|
549 |
42f2b46ec210
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diff
changeset
|
550 def getLanes(self): |
42f2b46ec210
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diff
changeset
|
551 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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diff
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|
552 |
42f2b46ec210
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diff
changeset
|
553 def addPosition(self, s, y, lane): |
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diff
changeset
|
554 self.addPositionXY(s,y) |
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|
555 self.lanes.append(lane) |
42f2b46ec210
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diff
changeset
|
556 |
42f2b46ec210
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diff
changeset
|
557 def setPosition(self, i, s, y, lane): |
42f2b46ec210
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diff
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|
558 self.setPositionXY(i, s, y) |
42f2b46ec210
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parents:
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diff
changeset
|
559 if i < self.__len__(): |
42f2b46ec210
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
560 self.lanes[i] = lane |
42f2b46ec210
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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318
diff
changeset
|
561 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
562 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
563 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
changeset
|
564 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
565 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
566 userTypeNames = ['unknown', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
567 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
568 'pedestrian', |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
569 'motorcycle', |
a70c205ebdd9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
570 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
571 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
572 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
573 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
574 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
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parents:
184
diff
changeset
|
575 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
576 class MovingObject(STObject): |
288
e0d41c7f53d4
updated class/method descriptions
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parents:
284
diff
changeset
|
577 '''Class for moving objects: a spatio-temporal object |
329
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parents:
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diff
changeset
|
578 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
|
579 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
580 |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
581 def __init__(self, num = None, timeInterval = None, positions = 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
|
582 super(MovingObject, self).__init__(num, timeInterval) |
16 | 583 self.positions = positions |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
584 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
585 self.userType = userType |
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
290
diff
changeset
|
586 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
587 # compute bounding polygon from trajectory |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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parents:
288
diff
changeset
|
588 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
589 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
590 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
591 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
|
592 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
|
593 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
594 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
|
595 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
|
596 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
597 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
598 return obj |
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
599 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
600 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
|
601 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
602 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
603 def length(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
604 return self.timeInterval.length() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
605 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
606 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
607 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
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parents:
30
diff
changeset
|
608 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
609 def getVelocities(self): |
0d321c23d337
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parents:
30
diff
changeset
|
610 return self.velocities |
0d321c23d337
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parents:
30
diff
changeset
|
611 |
329
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327
diff
changeset
|
612 def getUserType(self): |
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diff
changeset
|
613 return self.userType |
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diff
changeset
|
614 |
335
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
615 def getCurvilinearPositions(self): |
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added functions to export trajectories to csv
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331
diff
changeset
|
616 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
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parents:
331
diff
changeset
|
617 return self.curvilinearPositions |
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parents:
331
diff
changeset
|
618 else: |
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
619 return None |
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
620 |
329
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diff
changeset
|
621 def setUserType(self, userType): |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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327
diff
changeset
|
622 self.userType = userType |
a70c205ebdd9
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327
diff
changeset
|
623 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
624 def setFeatures(self, features): |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
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259
diff
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625 self.features = [features[i] for i in self.featureNumbers] |
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626 |
49 | 627 def getSpeeds(self): |
628 return self.getVelocities().norm() | |
629 | |
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630 def getPositionAt(self, i): |
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631 return self.positions[i] |
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632 |
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633 def getVelocityAt(self, i): |
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634 return self.velocities[i] |
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635 |
67
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636 def getPositionAtInstant(self, i): |
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637 return self.positions[i-self.getFirstInstant()] |
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638 |
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639 def getVelocityAtInstant(self, i): |
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640 return self.velocities[i-self.getFirstInstant()] |
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641 |
21
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642 def getXCoordinates(self): |
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643 return self.positions.getXCoordinates() |
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644 |
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645 def getYCoordinates(self): |
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646 return self.positions.getYCoordinates() |
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647 |
270
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648 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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649 self.positions.draw(options, withOrigin, timeStep, **kwargs) |
182
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650 |
270
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651 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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652 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 653 |
248
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654 def play(self, videoFilename, homography = None): |
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655 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
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656 |
83
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657 def getInstantsCrossingLane(self, p1, p2): |
55
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658 '''Returns the instant(s) |
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659 at which the object passes from one side of the segment to the other |
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660 empty list if there is no crossing''' |
83
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661 indices = self.positions.getIntersections(p1, p2) |
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662 return [t+self.getFirstInstant() for t in indices] |
27
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663 |
244
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664 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
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665 '''Predicts the position of object at instant+deltaT, |
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666 at constant speed''' |
255
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667 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
243
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668 |
67
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669 @staticmethod |
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670 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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671 'A positive result indicates that the road users are getting closer' |
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672 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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673 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
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674 return Point.dot(deltap, deltav) |
67
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675 |
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676 @staticmethod |
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677 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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678 'A positive result indicates that the road users are getting closer' |
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679 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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680 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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681 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2()) |
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682 |
62
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683 def plotRoadUsers(objects, colors): |
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684 '''Colors is a PlottingPropertyValues instance''' |
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685 from matplotlib.pyplot import figure, axis |
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686 figure() |
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687 for obj in objects: |
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688 obj.draw(colors.get(obj.userType)) |
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689 axis('equal') |
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690 |
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691 |
2
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692 if __name__ == "__main__": |
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693 import doctest |
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694 import unittest |
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695 suite = doctest.DocFileSuite('tests/moving.txt') |
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696 #suite = doctest.DocTestSuite() |
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697 unittest.TextTestRunner().run(suite) |
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698 #doctest.testmod() |
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699 #doctest.testfile("example.txt") |