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annotate python/moving.py @ 1011:4f0312bee393
moving.py
author | Wendlasida |
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date | Fri, 01 Jun 2018 10:43:23 -0400 |
parents | c90c4682c67e |
children | 01db14e947e4 |
rev | line source |
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0
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initial commit with non-functional python code for NGSIM
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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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added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
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4 import utils, cvutils |
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corrected bug with circular import for VideoFilenameAddable, moved to base module
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5 from base import VideoFilenameAddable |
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6 |
672
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moved and rationalized imports in modules
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7 from math import sqrt, atan2, cos, sin |
996
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updated feature tracker to opencv 3
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8 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, float32, argwhere, minimum |
851
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9 from matplotlib.pyplot import plot, text |
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10 from scipy.stats import scoreatpercentile |
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11 from scipy.spatial.distance import cdist |
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added savitzky golay filter for accelerations
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12 from scipy.signal import savgol_filter |
1011 | 13 import copy |
16 | 14 |
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15 try: |
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16 from shapely.geometry import Polygon, Point as shapelyPoint |
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17 from shapely.prepared import prep, PreparedGeometry |
372
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18 shapelyAvailable = True |
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19 except ImportError: |
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20 print('Shapely library could not be loaded') |
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21 shapelyAvailable = False |
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22 |
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23 |
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24 class Interval(object): |
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25 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 26 def __init__(self, first=0, last=-1, revert = False): |
27 if revert and last<first: | |
28 self.first=last | |
29 self.last=first | |
30 else: | |
31 self.first=first | |
32 self.last=last | |
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33 |
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34 def __str__(self): |
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35 return '[{0}, {1}]'.format(self.first, self.last) |
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36 |
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37 def __repr__(self): |
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38 return self.__str__() |
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39 |
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40 def __eq__(self, other): |
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41 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first)) |
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42 |
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43 def empty(self): |
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44 return self.first > self.last |
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45 |
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46 def center(self): |
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47 return (self.first+self.last)/2. |
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48 |
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49 def length(self): |
43
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50 '''Returns the length of the interval''' |
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51 return float(max(0,self.last-self.first)) |
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52 |
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53 def equal(self, i2): |
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54 return self.first==i2.first and self.last == i2.last |
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55 |
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56 def getList(self): |
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57 return [self.first, self.last] |
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58 |
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59 def contains(self, instant): |
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60 return (self.first<=instant and self.last>=instant) |
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61 |
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62 def inside(self, interval2): |
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63 '''Indicates if the temporal interval of self is comprised in interval2''' |
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64 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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65 |
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66 def shift(self, offset): |
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67 self.first += offset |
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68 self.last += offset |
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69 |
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70 @classmethod |
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71 def union(cls, interval1, interval2): |
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72 '''Smallest interval comprising self and interval2''' |
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73 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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74 |
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75 @classmethod |
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76 def intersection(cls, interval1, interval2): |
104
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77 '''Largest interval comprised in both self and interval2''' |
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78 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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79 |
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80 def distance(self, interval2): |
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81 if not Interval.intersection(self, interval2).empty(): |
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82 return 0 |
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83 elif self.first > interval2.last: |
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84 return self.first - interval2.last |
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85 elif self.last < interval2.first: |
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86 return interval2.first - self.last |
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87 else: |
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88 return None |
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89 |
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90 @classmethod |
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91 def unionIntervals(cls, intervals): |
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92 'returns the smallest interval containing all intervals' |
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93 inter = cls(intervals[0].first, intervals[0].last) |
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94 for i in intervals[1:]: |
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95 inter = cls.union(inter, i) |
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96 return inter |
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97 |
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98 |
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99 class TimeInterval(Interval): |
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100 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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101 |
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102 For example: based on frame numbers (hence the modified length method) |
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103 It may be modified directly by setting first and last |
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104 It also (mostly) works with datetime.datetime''' |
26 | 105 |
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106 def __init__(self, first=0, last=-1, revert = False): |
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107 super(TimeInterval, self).__init__(first, last, revert) |
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108 |
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109 @staticmethod |
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110 def fromInterval(inter): |
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111 return TimeInterval(inter.first, inter.last) |
26 | 112 |
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113 def __getitem__(self, i): |
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114 if not self.empty(): |
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115 if isinstance(i, int): |
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116 return self.first+i |
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117 else: |
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118 raise TypeError("Invalid argument type.") |
526
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119 #elif isinstance( key, slice ): |
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120 |
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121 def __iter__(self): |
107
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122 self.iterInstantNum = -1 |
27
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123 return self |
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124 |
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125 def next(self): |
67
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126 if self.iterInstantNum >= self.length()-1: |
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127 raise StopIteration |
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128 else: |
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129 self.iterInstantNum += 1 |
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130 return self[self.iterInstantNum] |
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131 |
26 | 132 def length(self): |
43
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133 '''Returns the length of the interval''' |
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134 return float(max(0,self.last-self.first+1)) |
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135 |
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136 def __len__(self): |
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137 return self.length() |
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138 |
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139 # class BoundingPolygon: |
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140 # '''Class for a polygon bounding a set of points |
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141 # with methods to create intersection, unions... |
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142 # ''' |
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143 # We will use the polygon class of Shapely |
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144 |
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145 class STObject(object): |
288
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146 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 147 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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148 |
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149 It may not mean that the object is defined |
6 | 150 for all time instants within the time interval''' |
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151 |
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152 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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153 self.num = num |
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154 self.timeInterval = timeInterval |
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155 self.boundingPolygon = boundingPolygon |
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156 |
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157 def empty(self): |
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158 return self.timeInterval.empty()# or not self.boudingPolygon |
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159 |
329
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160 def getNum(self): |
211 | 161 return self.num |
162 | |
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163 def __len__(self): |
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164 return self.timeInterval.length() |
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165 |
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166 def length(self): |
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167 return self.timeInterval.length() |
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168 |
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169 def getFirstInstant(self): |
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170 return self.timeInterval.first |
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171 |
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172 def getLastInstant(self): |
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173 return self.timeInterval.last |
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174 |
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175 def getTimeInterval(self): |
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176 return self.timeInterval |
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177 |
108
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178 def existsAtInstant(self, t): |
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179 return self.timeInterval.contains(t) |
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180 |
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181 def commonTimeInterval(self, obj2): |
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182 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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183 |
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184 def shiftTimeInterval(self, offset): |
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185 self.timeInterval.shift(offset) |
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186 |
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187 class Point(object): |
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188 def __init__(self, x, y): |
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189 self.x = x |
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190 self.y = y |
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191 |
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192 def __str__(self): |
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193 return '({:f},{:f})'.format(self.x,self.y) |
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194 |
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195 def __repr__(self): |
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196 return self.__str__() |
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197 |
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198 def __eq__(self, other): |
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199 return (self.x == other.x) and (self.y == other.y) |
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200 |
184
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diff
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201 def __add__(self, other): |
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202 return Point(self.x+other.x, self.y+other.y) |
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203 |
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204 def __sub__(self, other): |
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205 return Point(self.x-other.x, self.y-other.y) |
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206 |
451
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207 def __neg__(self): |
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208 return Point(-self.x, -self.y) |
575
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209 |
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210 def __getitem__(self, i): |
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211 if i == 0: |
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212 return self.x |
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213 elif i == 1: |
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214 return self.y |
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215 else: |
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216 raise IndexError() |
573
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217 |
690 | 218 def orthogonal(self, clockwise = True): |
219 'Returns the orthogonal vector' | |
220 if clockwise: | |
221 return Point(self.y, -self.x) | |
222 else: | |
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223 return Point(-self.y, self.x) |
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224 |
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225 def projectLocal(self, v, clockwise = True): |
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226 'Projects point projected on v, v.orthogonal()' |
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227 e1 = v/v.norm2() |
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228 e2 = e1.orthogonal(clockwise) |
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229 return Point(Point.dot(self, e1), Point.doc(self, e2)) |
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230 |
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231 def rotate(self, theta): |
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232 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta)) |
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233 |
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234 def __mul__(self, alpha): |
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235 'Warning, returns a new Point' |
105
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236 return Point(self.x*alpha, self.y*alpha) |
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237 |
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238 def divide(self, alpha): |
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239 'Warning, returns a new Point' |
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240 return Point(self.x/alpha, self.y/alpha) |
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241 |
515
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242 def plot(self, options = 'o', **kwargs): |
211 | 243 plot([self.x], [self.y], options, **kwargs) |
41 | 244 |
771 | 245 @staticmethod |
246 def plotSegment(p1, p2, options = 'o', **kwargs): | |
247 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs) | |
248 | |
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249 def angle(self): |
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250 return atan2(self.y, self.x) |
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251 |
38
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252 def norm2Squared(self): |
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253 '''2-norm distance (Euclidean distance)''' |
567
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254 return self.x**2+self.y**2 |
38
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255 |
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|
256 def norm2(self): |
288
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updated class/method descriptions
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284
diff
changeset
|
257 '''2-norm distance (Euclidean distance)''' |
38
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|
258 return sqrt(self.norm2Squared()) |
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|
259 |
284
f2cf16ad798f
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280
diff
changeset
|
260 def norm1(self): |
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diff
changeset
|
261 return abs(self.x)+abs(self.y) |
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diff
changeset
|
262 |
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diff
changeset
|
263 def normMax(self): |
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diff
changeset
|
264 return max(abs(self.x),abs(self.y)) |
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|
265 |
64
c75bcdaed00f
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diff
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|
266 def aslist(self): |
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|
267 return [self.x, self.y] |
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|
268 |
203
e2f31813ade6
added code to display trajectories on videa
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185
diff
changeset
|
269 def astuple(self): |
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185
diff
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|
270 return (self.x, self.y) |
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diff
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|
271 |
223
c31722fcc9de
minor modifications for integer drawing in OpenCV
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214
diff
changeset
|
272 def asint(self): |
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214
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|
273 return Point(int(self.x), int(self.y)) |
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214
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|
274 |
372
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Cleaned the methods/functions indicating if a point is in a polygon
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|
275 if shapelyAvailable: |
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diff
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|
276 def asShapely(self): |
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|
277 return shapelyPoint(self.x, self.y) |
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|
278 |
936
56cc8a1f7082
removed all old versions of projection methods
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parents:
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diff
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|
279 def homographyProject(self, homography): |
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|
280 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography) |
98
b85912ab4064
refactored projection functions
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diff
changeset
|
281 return Point(projected[0], projected[1]) |
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diff
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|
282 |
627
82e9f78a4714
added test for location for trajectories
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diff
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|
283 def inPolygon(self, polygon): |
372
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|
284 '''Indicates if the point x, y is inside the polygon |
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|
285 (array of Nx2 coordinates of the polygon vertices) |
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diff
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|
286 |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
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91
diff
changeset
|
287 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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91
diff
changeset
|
288 |
372
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diff
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|
289 Use Polygon.contains if Shapely is installed''' |
79
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diff
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|
290 |
372
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diff
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|
291 n = polygon.shape[0]; |
79
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added method to test points in polygons and tests
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74
diff
changeset
|
292 counter = 0; |
5d487f183fe2
added method to test points in polygons and tests
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diff
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|
293 |
372
349eb1e09f45
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diff
changeset
|
294 p1 = polygon[0,:]; |
79
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parents:
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diff
changeset
|
295 for i in range(n+1): |
372
349eb1e09f45
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diff
changeset
|
296 p2 = polygon[i % n,:]; |
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diff
changeset
|
297 if self.y > min(p1[1],p2[1]): |
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diff
changeset
|
298 if self.y <= max(p1[1],p2[1]): |
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diff
changeset
|
299 if self.x <= max(p1[0],p2[0]): |
349eb1e09f45
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diff
changeset
|
300 if p1[1] != p2[1]: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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diff
changeset
|
301 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
302 if p1[0] == p2[0] or self.x <= xinters: |
79
5d487f183fe2
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diff
changeset
|
303 counter+=1; |
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added method to test points in polygons and tests
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diff
changeset
|
304 p1=p2 |
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added method to test points in polygons and tests
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diff
changeset
|
305 return (counter%2 == 1); |
5d487f183fe2
added method to test points in polygons and tests
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parents:
74
diff
changeset
|
306 |
49 | 307 @staticmethod |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
308 def fromList(p): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
309 return Point(p[0], p[1]) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
310 |
cae4e5f3fe9f
fixed and simplified getSYfromXY
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parents:
571
diff
changeset
|
311 @staticmethod |
67
ded58c424783
added indicator computation and modified severity indicator constructor
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parents:
66
diff
changeset
|
312 def dot(p1, p2): |
89
f88a19695bba
added inner product
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parents:
83
diff
changeset
|
313 'Scalar product' |
67
ded58c424783
added indicator computation and modified severity indicator constructor
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parents:
66
diff
changeset
|
314 return p1.x*p2.x+p1.y*p2.y |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
315 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
316 @staticmethod |
90
f84293ad4611
renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
89
diff
changeset
|
317 def cross(p1, p2): |
f84293ad4611
renamed inner to cross product
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parents:
89
diff
changeset
|
318 'Cross product' |
89
f88a19695bba
added inner product
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parents:
83
diff
changeset
|
319 return p1.x*p2.y-p1.y*p2.x |
f88a19695bba
added inner product
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parents:
83
diff
changeset
|
320 |
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
321 @staticmethod |
987
f026ce2af637
found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
982
diff
changeset
|
322 def parallel(p1, p2): |
f026ce2af637
found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
982
diff
changeset
|
323 return Point.cross(p1, p2) == 0. |
f026ce2af637
found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
982
diff
changeset
|
324 |
f026ce2af637
found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
982
diff
changeset
|
325 @staticmethod |
378
3805b9639647
added tests for movement orientation, object size
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parents:
377
diff
changeset
|
326 def cosine(p1, p2): |
3805b9639647
added tests for movement orientation, object size
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parents:
377
diff
changeset
|
327 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
328 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
329 @staticmethod |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
330 def distanceNorm2(p1, p2): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
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parents:
30
diff
changeset
|
331 return (p1-p2).norm2() |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
332 |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
333 @staticmethod |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
345
diff
changeset
|
334 def plotAll(points, **kwargs): |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
335 from matplotlib.pyplot import scatter |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
345
diff
changeset
|
336 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
337 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
338 def similarOrientation(self, refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
339 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
3805b9639647
added tests for movement orientation, object size
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parents:
377
diff
changeset
|
340 return Point.cosine(self, refDirection) >= cosineThreshold |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
341 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
342 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
464
diff
changeset
|
343 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
344 '''Computes exact time to collision with a distance threshold |
a40c75f04903
optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
345 The unknown of the equation is the time to reach the intersection |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
346 between the relative trajectory of one road user |
a40c75f04903
optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
347 and the circle of radius collisionThreshold around the other road user''' |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
348 dv = v1-v2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
349 dp = p1-p2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
350 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
516
bce1fe45d1b2
corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
515
diff
changeset
|
351 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
352 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
353 |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
354 delta = b**2 - 4*a*c |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
355 if delta >= 0: |
a40c75f04903
optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
356 deltaRoot = sqrt(delta) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
357 ttc1 = (-b + deltaRoot)/(2*a) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
358 ttc2 = (-b - deltaRoot)/(2*a) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
359 if ttc1 >= 0 and ttc2 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
360 return min(ttc1,ttc2) |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
361 elif ttc1 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
362 return ttc1 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
363 elif ttc2 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
364 return ttc2 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
365 else: # ttc1 < 0 and ttc2 < 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
366 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
367 else: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
368 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
369 |
583
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
370 @staticmethod |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
371 def midPoint(p1, p2): |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
372 'Returns the middle of the segment [p1, p2]' |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
373 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
374 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
375 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
|
376 def pointsInPolygon(points, polygon): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
377 '''Optimized tests of a series of points within (Shapely) polygon (not prepared)''' |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
378 if type(polygon) == PreparedGeometry: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
379 prepared_polygon = polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
380 else: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
381 prepared_polygon = prep(polygon) |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
382 return filter(prepared_polygon.contains, points) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
383 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
384 # Functions for coordinate transformation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
385 # From Paul St-Aubin's PVA tools |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
386 def subsec_spline_dist(splines): |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
387 ''' Prepare list of spline subsegments from a spline list. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
388 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
389 Output: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
390 ======= |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
391 ss_spline_d[spline #][mode][station] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
392 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
393 where: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
394 mode=0: incremental distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
395 mode=1: cumulative distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
396 mode=2: cumulative distance with trailing distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
397 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
398 ss_spline_d = [] |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
399 #Prepare subsegment distances |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
400 for spline in range(len(splines)): |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
401 ss_spline_d[spline]=[]#.append([[],[],[]]) |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
402 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Incremental distance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
403 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Cumulative distance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
404 ss_spline_d[spline].append(zeros(len(splines[spline]))) #Cumulative distance with trailing distance |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
405 for spline_p in range(len(splines[spline])): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
406 if spline_p > (len(splines[spline]) - 2): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
407 break |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
408 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
409 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p]) |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
410 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
411 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
412 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
413 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
414 return ss_spline_d |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
415 |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
416 def prepareSplines(splines): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
417 'Approximates slope singularity by giving some slope roundoff; account for roundoff error' |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
418 for spline in splines: |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
419 p1 = spline[0] |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
420 for i in xrange(len(spline)-1): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
421 p2 = spline[i+1] |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
422 if(round(p1.x, 10) == round(p2.x, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
423 p2.x += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
424 if(round(p1.y, 10) == round(p2.y, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
425 p2.y += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
426 p1 = p2 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
427 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
428 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
429 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
430 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
431 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
432 if(p0x == p1x and p0y == p1y): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
433 return None |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
434 try: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
435 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
436 # if(round(p0x, 10) == round(p1x, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
437 # p1x += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
438 # if(round(p0y, 10) == round(p1y, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
439 # p1y += 0.0000000001 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
440 #make the calculation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
441 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
442 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
443 except ZeroDivisionError: |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
444 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
445 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
446 import pdb; pdb.set_trace() |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
447 return Point(X,Y) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
448 |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
449 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5): |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
450 ''' Snap a point p to its nearest subsegment of it's nearest spline (from the list splines). |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
451 A spline is a list of points (class Point), most likely a trajectory. |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
452 |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
453 Output: |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
454 ======= |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
455 [spline index, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
456 subsegment leading point index, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
457 snapped point, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
458 subsegment distance, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
459 spline distance, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
460 orthogonal point offset] |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
461 |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
462 or None |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
463 ''' |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
464 minOffsetY = float('inf') |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
465 #For each spline |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
466 for splineIdx in range(len(splines)): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
467 #For each spline point index |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
468 for spline_p in range(len(splines[splineIdx])-1): |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
469 #Get closest point on spline |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
470 closestPoint = ppldb2p(p.x,p.y,splines[splineIdx][spline_p][0],splines[splineIdx][spline_p][1],splines[splineIdx][spline_p+1][0],splines[splineIdx][spline_p+1][1]) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
471 if closestPoint is None: |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
472 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(splineIdx, spline_p)) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
473 return None |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
474 # check if the projected point is in between the current segment of the alignment bounds |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
475 if utils.inBetween(splines[splineIdx][spline_p][0], splines[splineIdx][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[splineIdx][spline_p][1], splines[splineIdx][spline_p+1][1], closestPoint.y): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
476 offsetY = Point.distanceNorm2(closestPoint, p) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
477 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
478 minOffsetY = offsetY |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
479 snappedSplineIdx = splineIdx |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
480 snappedSplineLeadingPoint = spline_p |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
481 snappedPoint = Point(closestPoint.x, closestPoint.y) |
573
cae4e5f3fe9f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
482 #Jump loop if significantly close |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
483 if offsetY < goodEnoughSplineDistance: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
484 break |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
485 |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
486 #Get sub-segment distance |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
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parents:
573
diff
changeset
|
487 if minOffsetY != float('inf'): |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
488 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSplineIdx][snappedSplineLeadingPoint]) |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
489 #Get cumulative alignment distance (total segment distance) |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
490 splineDistanceS = splines[snappedSplineIdx].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
491 orthogonalSplineVector = (splines[snappedSplineIdx][snappedSplineLeadingPoint+1]-splines[snappedSplineIdx][snappedSplineLeadingPoint]).orthogonal() |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
492 offsetVector = p-snappedPoint |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
493 if Point.dot(orthogonalSplineVector, offsetVector) < 0: |
e24eeb244698
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573
diff
changeset
|
494 minOffsetY = -minOffsetY |
780
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
495 return [snappedSplineIdx, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY] |
574
e24eeb244698
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parents:
573
diff
changeset
|
496 else: |
780
1b22d81ef5ff
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diff
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|
497 print('Offset for point {} is infinite (check with prepareSplines if some spline segments are aligned with axes)'.format(p)) |
574
e24eeb244698
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
498 return None |
e24eeb244698
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parents:
573
diff
changeset
|
499 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
500 def getXYfromSY(s, y, splineNum, splines, mode = 0): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
501 ''' Find X,Y coordinate from S,Y data. |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
502 if mode = 0 : return Snapped X,Y |
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
503 if mode !=0 : return Real X,Y |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
504 ''' |
072cedc3f33d
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
505 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
506 #(buckle in, it gets ugly from here on out) |
072cedc3f33d
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
507 ss_spline_d = subsec_spline_dist(splines) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
508 |
072cedc3f33d
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parents:
562
diff
changeset
|
509 #Find subsegment |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
510 snapped_x = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
511 snapped_y = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
512 for spline_ss_index in range(len(ss_spline_d[splineNum][1])): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
513 if(s < ss_spline_d[splineNum][1][spline_ss_index]): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
514 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
515 #Get normal vector and then snap |
072cedc3f33d
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
516 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
517 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
518 magnitude = sqrt(vector_l_x**2 + vector_l_y**2) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
519 n_vector_x = vector_l_x/magnitude |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
520 n_vector_y = vector_l_y/magnitude |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
521 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
522 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
523 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
524 #Real values (including orthogonal projection of y)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
525 real_x = snapped_x - y*n_vector_y |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
526 real_y = snapped_y + y*n_vector_x |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
527 break |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
528 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
529 if mode == 0 or (not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
530 if(not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
531 snapped_x = splines[splineNum][-1][0] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
532 snapped_y = splines[splineNum][-1][1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
533 return [snapped_x,snapped_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
534 else: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
535 return [real_x,real_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
536 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
537 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
538 class NormAngle(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
539 '''Alternate encoding of a point, by its norm and orientation''' |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
540 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
541 def __init__(self, norm, angle): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
542 self.norm = norm |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
543 self.angle = angle |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
544 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
545 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
546 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
547 norm = p.norm2() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
548 if norm > 0: |
945
05d4302bf67e
working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
943
diff
changeset
|
549 angle = p.angle() |
339 | 550 else: |
551 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
552 return NormAngle(norm, angle) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
553 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
554 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
555 'a norm cannot become negative' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
556 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
557 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
558 def getPoint(self): |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
559 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
560 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
561 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
562 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
563 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
564 return initialVelocity + initialAcceleration.__mul__(nTimeSteps),initialPosition+initialVelocity.__mul__(nTimeSteps) + initialAcceleration.__mul__(nTimeSteps**2*0.5) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
565 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
566 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
567 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
568 speedOrientation is the other encoding of velocity, (speed, orientation) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
569 speedOrientation and control are NormAngle''' |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
570 predictedSpeedTheta = speedOrientation+control |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
571 if maxSpeed is not None: |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
572 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
573 predictedPosition = position+predictedSpeedTheta.getPoint() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
574 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
575 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
576 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
577 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
578 '''Class to represent 4-D flow vectors, |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
579 ie a position and a velocity''' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
580 def __init__(self, position, velocity): |
d70e9b36889c
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diff
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|
581 'position and velocity should be Point instances' |
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diff
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|
582 self.position = position |
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diff
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|
583 self.velocity = velocity |
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diff
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|
584 |
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diff
changeset
|
585 def __add__(self, other): |
d70e9b36889c
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parents:
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changeset
|
586 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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diff
changeset
|
587 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
588 def __mul__(self, alpha): |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
589 return FlowVector(self.position.__mul__(alpha), self.velocity.__mul__(alpha)) |
184
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initial work on flow vectors and clustering algorithms
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diff
changeset
|
590 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
591 def plot(self, options = '', **kwargs): |
211 | 592 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
593 self.position.plot(options+'x', **kwargs) |
184
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parents:
182
diff
changeset
|
594 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
595 @staticmethod |
d70e9b36889c
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parents:
182
diff
changeset
|
596 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
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changeset
|
597 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
d70e9b36889c
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parents:
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diff
changeset
|
598 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
599 def intersection(p1, p2, p3, p4): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
600 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
601 http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
602 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
603 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
604 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y) |
674
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
605 det = float(dp34.y*dp12.x-dp34.x*dp12.y) |
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
606 if det == 0.: |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
607 return None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
608 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
609 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
610 return p1+dp12.__mul__(ua) |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
611 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
612 # def intersection(p1, p2, dp1, dp2): |
0057c04f94d5
work in progress on intersections (for PET)
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parents:
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diff
changeset
|
613 # '''Returns the intersection point between the two lines |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
614 # defined by the respective vectors (dp) and origin points (p)''' |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
615 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
616 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
617 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
618 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
619 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
620 # [dp2.y*p2.x-dp2.x*p2.y]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
621 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
622 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
623 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
624 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
625 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
626 # return Point(intersection[0,0], intersection[1,0]) |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
627 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
628 def segmentIntersection(p1, p2, p3, p4): |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
629 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
630 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
631 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
632 return None |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
633 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
634 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
635 if (inter is not None |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
636 and utils.inBetween(p1.x, p2.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
637 and utils.inBetween(p3.x, p4.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
638 and utils.inBetween(p1.y, p2.y, inter.y) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
639 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:
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diff
changeset
|
640 return inter |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
641 else: |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
642 return None |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
643 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
644 def segmentLineIntersection(p1, p2, p3, p4): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
645 '''Indicates if the line going through p1 and p2 intersects inside p3, p4''' |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
646 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
647 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y): |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
648 return inter |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
649 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
650 return None |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
651 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
652 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
653 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
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parents:
284
diff
changeset
|
654 '''Class for trajectories: temporal sequence of positions |
22 | 655 |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
656 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
657 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
658 def __init__(self, positions=None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
659 if positions is not None: |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
660 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
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diff
changeset
|
661 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
108
diff
changeset
|
662 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
663 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
664 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
665 def generate(p, v, nPoints): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
666 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
667 p0 = Point(p.x, p.y) |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
668 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
669 for i in xrange(nPoints-1): |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
670 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
671 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
672 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints]) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
673 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
674 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
675 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
676 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
|
677 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
678 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
679 @staticmethod |
dc1faa7287bd
added the normal adaptation class
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parents:
255
diff
changeset
|
680 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
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parents:
255
diff
changeset
|
681 t = Trajectory() |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
682 if isinstance(points[0], list) or isinstance(points[0], tuple): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
683 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
684 t.addPositionXY(p[0],p[1]) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
685 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
686 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
687 t.addPosition(p) |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
688 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
689 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
690 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
691 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
692 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
693 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
694 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
695 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
696 def empty(self): |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
697 return self.__len__() == 0 |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
698 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
699 def __getitem__(self, i): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
700 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
701 return Point(self.positions[0][i], self.positions[1][i]) |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
702 elif isinstance(i, slice): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
703 return Trajectory([self.positions[0][i],self.positions[1][i]]) |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
704 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
705 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
706 |
16 | 707 def __str__(self): |
39 | 708 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 709 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
710 def __repr__(self): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
711 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
712 |
22 | 713 def __iter__(self): |
714 self.iterInstantNum = 0 | |
715 return self | |
716 | |
717 def next(self): | |
718 if self.iterInstantNum >= self.length(): | |
719 raise StopIteration | |
720 else: | |
721 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
722 return self[self.iterInstantNum-1] |
22 | 723 |
776
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
724 def __eq__(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
725 if self.length() == other.length(): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
726 result = True |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
727 for p, po in zip(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
728 result = result and (p == po) |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
729 return result |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
730 else: |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
731 return False |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
732 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
733 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
734 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
735 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
736 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
737 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
738 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
739 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
740 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
741 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
|
742 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
743 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
744 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
745 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
|
746 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
|
747 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
748 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
749 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
|
750 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
|
751 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
752 @staticmethod |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
753 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, objNum = None, **kwargs): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
754 if lastCoordinate is None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
755 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
|
756 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
757 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
|
758 if withOrigin: |
211 | 759 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
760 if objNum is not None: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
761 text(positions[0][0], positions[1][0], '{}'.format(objNum)) |
933
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
762 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
763 def homographyProject(self, homography): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
764 return Trajectory(cvutils.homographyProject(array(self.positions), homography).tolist()) |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
765 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
766 def newCameraProject(self, newCameraMatrix): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
767 return Trajectory(cvutils.newCameraProject(array(self.positions), newCameraMatrix).tolist()) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
768 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
769 def plot(self, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
770 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
771 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
772 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
773 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, objNum, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
774 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
775 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
776 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
620
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
777 [x*nPixelsPerUnitDistance for x in self.positions[1]]] |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
778 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, objNum, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
779 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
780 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
781 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
782 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
783 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
784 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
|
785 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
786 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
|
787 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
788 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
789 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
790 # 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
|
791 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
792 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
793 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
794 # 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
|
795 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
796 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
797 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
798 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
799 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
800 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
801 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
802 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
803 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
|
804 [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
|
805 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
806 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
807 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
808 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
809 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
810 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
811 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
812 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
|
813 [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
|
814 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
815 def __mul__(self, alpha): |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
816 '''Returns a new trajectory of the same length''' |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
817 return Trajectory([[alpha*x for x in self.getXCoordinates()], |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
818 [alpha*y for y in self.getYCoordinates()]]) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
819 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
820 def differentiate(self, doubleLastPosition = False): |
339 | 821 diff = Trajectory() |
822 for i in xrange(1, self.length()): | |
823 diff.addPosition(self[i]-self[i-1]) | |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
824 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
825 diff.addPosition(diff[-1]) |
339 | 826 return diff |
827 | |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
828 def differentiateSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='interp', cval=0.0, nInstantsIgnoredAtEnds = 2): |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
829 '''Differentiates the trajectory using the Savitsky Golay filter |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
830 |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
831 window_length : The length of the filter window (i.e. the number of coefficients). window_length must be a positive odd integer. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
832 polyorder : The order of the polynomial used to fit the samples. polyorder must be less than window_length. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
833 deriv : The order of the derivative to compute. This must be a nonnegative integer. The default is 0, which means to filter the data without differentiating. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
834 delta : The spacing of the samples to which the filter will be applied. This is only used if deriv > 0. Default is 1.0. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
835 axis : The axis of the array x along which the filter is to be applied. Default is -1. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
836 mode : Must be mirror, constant, nearest, wrap or interp. This determines the type of extension to use for the padded signal to which the filter is applied. When mode is constant, the padding value is given by cval. See the Notes for more details on mirror, constant, wrap, and nearest. When the interp mode is selected (the default), no extension is used. Instead, a degree polyorder polynomial is fit to the last window_length values of the edges, and this polynomial is used to evaluate the last window_length // 2 output values. |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
837 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0. |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
838 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
839 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter''' |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
840 if removeBothEnds >=1: |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
841 pos = [self.positions[0][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds], |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
842 self.positions[1][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds]] |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
843 else: |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
844 pos = self.positions |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
845 filtered = savgol_filter(pos, window_length, polyorder, deriv, delta, axis, mode, cval) |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
846 return Trajectory(filtered) |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
847 |
16 | 848 def norm(self): |
849 '''Returns the list of the norms at each instant''' | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
850 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
851 |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
852 def computeCumulativeDistances(self): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
853 '''Computes the distance from each point to the next and the cumulative distance up to the point |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
854 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
855 self.distances = [] |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
856 self.cumulativeDistances = [0.] |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
857 p1 = self[0] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
858 cumulativeDistance = 0. |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
859 for i in xrange(self.length()-1): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
860 p2 = self[i+1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
861 self.distances.append(Point.distanceNorm2(p1,p2)) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
862 cumulativeDistance += self.distances[-1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
863 self.cumulativeDistances.append(cumulativeDistance) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
864 p1 = p2 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
865 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
866 def getDistance(self,i): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
867 '''Return the distance between points i and i+1''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
868 if i < self.length()-1: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
869 return self.distances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
870 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
871 print('Index {} beyond trajectory length {}-1'.format(i, self.length())) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
872 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
873 def getCumulativeDistance(self, i): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
874 '''Return the cumulative distance between the beginning and point i''' |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
875 if i < self.length(): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
876 return self.cumulativeDistances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
877 else: |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
878 print('Index {} beyond trajectory length {}'.format(i, self.length())) |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
879 |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
880 def getMaxDistance(self, metric): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
881 'Returns the maximum distance between points in the trajectory' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
882 positions = self.getPositions().asArray().T |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
883 return cdist(positions, positions, metric = metric).max() |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
884 |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
885 def getClosestPoint(self, p1, maxDist2 = None): |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
886 '''Returns the instant of the closest position in trajectory to p1 (and the point) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
887 if maxDist is not None, will check the distance is smaller |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
888 TODO: could use cdist for different metrics''' |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
889 distances2 = [] |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
890 minDist2 = float('inf') |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
891 i = -1 |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
892 for p2 in self: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
893 distances2.append(Point.distanceNorm2(p1, p2)) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
894 if distances2[-1] < minDist2: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
895 minDist2 = distances2[-1] |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
896 i = len(distances2)-1 |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
897 if maxDist2 is not None and minDist2 < maxDist2: |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
898 return None |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
899 else: |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
900 return i |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
901 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
902 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
903 '''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
|
904 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
|
905 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
906 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
907 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
908 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
909 count += 1 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
910 return count >= lengthThreshold |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
911 |
49 | 912 def wiggliness(self): |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
913 straightDistance = Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
914 if straightDistance > 0: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
915 return self.getCumulativeDistance(self.length()-1)/float(straightDistance) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
916 else: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
917 return None |
49 | 918 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
919 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
920 '''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
|
921 intersects with the segment of extremities p1 and p2 |
771 | 922 Returns an empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
923 indices = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
924 intersections = [] |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
925 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
926 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
927 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
928 q2=self.__getitem__(i+1) |
771 | 929 p = segmentIntersection(q1, q2, p1, p2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
930 if p is not None: |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
931 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
932 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
933 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
934 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
935 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
936 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
937 indices.append(i+ratio) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
938 intersections.append(p) |
771 | 939 return indices, intersections |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
940 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
941 def getLineIntersections(self, p1, p2): |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
942 '''Returns a list of the indices at which the trajectory |
771 | 943 intersects with the line going through p1 and p2 |
944 Returns an empty list if there is no crossing''' | |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
945 indices = [] |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
946 intersections = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
947 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
948 for i in xrange(self.length()-1): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
949 q1=self.__getitem__(i) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
950 q2=self.__getitem__(i+1) |
771 | 951 p = segmentLineIntersection(p1, p2, q1, q2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
952 if p is not None: |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
953 if q1.x != q2.x: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
954 ratio = (p.x-q1.x)/(q2.x-q1.x) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
955 elif q1.y != q2.y: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
956 ratio = (p.y-q1.y)/(q2.y-q1.y) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
957 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
958 ratio = 0 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
959 indices.append(i+ratio) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
960 intersections.append(p) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
961 return indices, intersections |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
962 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
963 def getTrajectoryInInterval(self, inter): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
964 'Returns all position between index inter.first and index.last (included)' |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
965 if inter.first >=0 and inter.last<= self.length(): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
966 return Trajectory([self.positions[0][inter.first:inter.last+1], |
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
967 self.positions[1][inter.first:inter.last+1]]) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
968 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
969 return None |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
970 |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
971 def subSample(self, step): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
972 'Returns the positions very step' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
973 return Trajectory([self.positions[0][::step], |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
974 self.positions[1][::step]]) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
975 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
976 if shapelyAvailable: |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
977 def getInstantsInPolygon(self, polygon): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
978 '''Returns the list of instants at which the trajectory is in the polygon''' |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
979 instants = [] |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
980 n = self.length() |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
981 for t, x, y in zip(range(n), self.positions[0], self.positions[1]): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
982 if polygon.contains(shapelyPoint(x, y)): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
983 instants.append(t) |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
984 return instants |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
985 |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
986 def getTrajectoryInPolygon(self, polygon, t2 = None): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
987 '''Returns the trajectory built with the set of points inside the (shapely) polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
988 The polygon could be a prepared polygon (faster) from prepared.prep |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
989 |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
990 t2 is another trajectory (could be velocities) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
991 which is filtered based on the first (self) 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
|
992 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
993 inPolygon = [] |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
994 for x, y in zip(self.positions[0], self.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
995 inPolygon.append(polygon.contains(shapelyPoint(x, y))) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
996 if inPolygon[-1]: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
997 traj.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
998 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
999 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1000 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1001 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1002 traj2.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1003 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1004 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1005 def proportionInPolygon(self, polygon, minProportion = 0.5): |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1006 instants = self.getInstantsInPolygon(polygon) |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1007 lengthThreshold = float(self.length())*minProportion |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1008 return len(instants) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1009 else: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1010 def getTrajectoryInPolygon(self, polygon, t2 = None): |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1011 '''Returns the trajectory built with the set of points inside the polygon |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1012 (array of Nx2 coordinates of the polygon vertices)''' |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1013 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1014 inPolygon = [] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1015 for p in self: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1016 inPolygon.append(p.inPolygon(polygon)) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1017 if inPolygon[-1]: |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1018 traj.addPosition(p) |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1019 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1020 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1021 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1022 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1023 traj2.addPositionXY(p.x, p.y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1024 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1025 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1026 def proportionInPolygon(self, polygon, minProportion = 0.5): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1027 inPolygon = [p.inPolygon(polygon) for p in self] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1028 lengthThreshold = float(self.length())*minProportion |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1029 return sum(inPolygon) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1030 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1031 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1032 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1033 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1034 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1035 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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diff
changeset
|
1036 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
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318
diff
changeset
|
1037 longitudinal coordinate is stored as first coordinate (exterior name S) |
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diff
changeset
|
1038 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
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318
diff
changeset
|
1039 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1040 def __init__(self, S = None, Y = None, lanes = None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1041 if S is None or Y is None or len(S) != len(Y): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1042 self.positions = [[],[]] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1043 if S is not None and Y is not None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
1044 print("S and Y coordinates of different lengths\nInitializing to empty lists") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1045 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1046 self.positions = [S,Y] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1047 if lanes is None or len(lanes) != self.length(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1048 self.lanes = [] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1049 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1050 self.lanes = lanes |
327
42f2b46ec210
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diff
changeset
|
1051 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1052 def __getitem__(self,i): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1053 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1054 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1055 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
1056 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1057 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1058 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1059 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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318
diff
changeset
|
1060 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
1061 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1062 def getLanes(self): |
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added class for trajectories in curvilinear coordinates
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318
diff
changeset
|
1063 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1064 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1065 def addPositionSYL(self, s, y, lane): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
1066 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
1067 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1068 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1069 def addPosition(self, p): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1070 'Adds position in the point format for curvilinear of list with 3 values' |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1071 self.addPositionSYL(p[0], p[1], p[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1072 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1073 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
|
1074 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1075 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1076 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1077 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1078 def differentiate(self, doubleLastPosition = False): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1079 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1080 p1 = self[0] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1081 for i in xrange(1, self.length()): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1082 p2 = self[i] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1083 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], p1[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1084 p1=p2 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
1085 if doubleLastPosition and self.length() > 1: |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1086 diff.addPosition(diff[-1]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1087 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1088 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1089 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1090 '''Returns a list of the indices at which the trajectory |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1091 goes past the curvilinear coordinate S1 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1092 (in provided lane if lane is not None) |
771 | 1093 Returns an empty list if there is no crossing''' |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1094 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1095 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1096 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1097 q2=self.__getitem__(i+1) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1098 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1099 indices.append(i+(S1-q1[0])/(q2[0]-q1[0])) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1100 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1101 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1102 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1103 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1104 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1105 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1106 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
|
1107 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1108 '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
|
1109 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1110 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1111 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1112 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1113 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1114 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1115 |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1116 class CarClassifier: |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1117 def predict(self, hog): |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1118 return userType2Num['car'] |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1119 carClassifier = CarClassifier() |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1120 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
663
diff
changeset
|
1121 class MovingObject(STObject, VideoFilenameAddable): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
1122 '''Class for moving objects: a spatio-temporal object |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1123 with a trajectory and a geometry (constant volume over time) |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1124 and a usertype (e.g. road user) coded as a number (see userTypeNames) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1125 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1126 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
1127 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
1128 super(MovingObject, self).__init__(num, timeInterval) |
16 | 1129 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1130 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1131 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1132 self.userType = userType |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1133 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1134 # compute bounding polygon from trajectory |
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
1135 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1136 @staticmethod |
996
add667153087
updated feature tracker to opencv 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
995
diff
changeset
|
1137 def aggregateTrajectory(features, aggFunc = mean): |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1138 'Computes the aggregate trajectory from list of MovingObject features' |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1139 return None |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1140 |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1141 @staticmethod |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
1142 def generate(num, p, v, timeInterval): |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1143 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
1144 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = velocities) |
1011 | 1145 |
1146 | |
1147 | |
1148 | |
1149 @staticmethod | |
1150 def generateWithFeatures(num, features, userType): | |
1151 newObjectTMP = MovingObject.concatenateWith(features[0],features[1:],num) | |
1152 newObject = MovingObject(newObjectTMP.getNum() if num is None else num, newObjectTMP.getTimeInterval(), newObjectTMP.positions, newObjectTMP.velocities, userType = userType) | |
1153 newObject.features = [copy.deepcopy(f) for f in features] | |
1154 return newObject | |
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1155 |
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1156 @staticmethod |
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1157 def concatenateWith(obj1, ObjectList=[], num = None): #Concatenate with a list of MovingObjects |
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1158 if len(ObjectList)==0: |
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1159 newObject = MovingObject(obj1.getNum() if num is None else num, obj1.getTimeInterval(), obj1.positions, obj1.velocities, userType = obj1.getUserType()) |
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1160 if obj1.hasFeatures() : |
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1161 newObject.features = list(obj1.features) |
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1162 else: |
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1163 def getKey(item): |
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1164 return 0 if not obj1.commonTimeInterval(item).empty() else max(obj1.getFirstInstant(),item.getFirstInstant())-min(obj1.getLastInstant(),item.getLastInstant()) |
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1165 Order = min(ObjectList , key=getKey) |
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1166 newObject = MovingObject.concatenate(obj1, Order, num) |
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1167 ObjectList.remove(Order) |
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1168 newObject = MovingObject.concatenateWith(newObject,ObjectList) |
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1169 return newObject |
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1170 |
1011 | 1171 '''@staticmethod |
1010
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1172 def addFeatures(obj1, FeatureList=[], num = None): #Add features to an object |
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1173 if len(FeatureList)==0: #We return a clone |
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1174 newObject = MovingObject(obj1.getNum() if num is None else num, obj1.getTimeInterval(), obj1.positions, obj1.velocities, userType = obj1.getUserType()) |
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1175 if obj1.features is not None: |
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1176 newObject.features = list(obj1.features) |
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1177 else : |
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1178 newObjectTMP = MovingObject.concatenateWith(obj1,FeatureList,num) |
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1179 newObject = MovingObject(newObjectTMP.getNum() if num is None else num, newObjectTMP.getTimeInterval(), newObjectTMP.positions, newObjectTMP.velocities, userType = newObjectTMP.getUserType()) |
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1180 if obj1.hasFeatures() and newObjectTMP.hasFeatures(): |
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1181 newObject.features = obj1.features + newObjectTMP.features |
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1182 |
1011 | 1183 return newObject''' |
1010
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1184 |
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1185 |
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1186 @staticmethod |
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1187 def delFeatures(obj1, FeatureList=[], num = None): |
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1188 if obj1.features is not None: |
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1189 if len(FeatureList)>0: |
1011 | 1190 tmp = [ i for i in (obj1.features if obj1.features is not None else []) if i not in FeatureList] |
1191 if len(tmp)==0: | |
1192 newObject = MovingObject(obj1.getNum() if num is None else num, obj1.getTimeInterval(), obj1.positions, obj1.velocities, userType = obj1.getUserType()) | |
1193 newObject.features = [MovingObject(obj1.getNum() if num is None else num, newInterval, obj1.positions, obj1.velocities, userType = obj1.getUserType())] | |
1194 elif len(obj1.features if obj1.features is not None else [])!=len(tmp): | |
1010
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1195 newInterval = TimeInterval(min([i.getFirstInstant() for i in tmp]), max([i.getLastInstant() for i in tmp])) |
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1196 positions = Trajectory() |
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1197 for t in newInterval: |
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1198 nTotal = 0. |
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1199 p = Point(0.,0.) |
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1200 for obj in tmp: |
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1201 if obj.existsAtInstant(t): |
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1202 if obj.hasFeatures(): |
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1203 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
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1204 else: |
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1205 n = 1. |
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1206 p += obj.getPositionAtInstant(t).__mul__(n) |
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1207 nTotal += n |
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1208 if nTotal==0: |
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1209 positions.addPosition(obj1.getPositionAtInstant(t)) |
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1210 else: |
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1211 positions.addPosition(p.divide(nTotal)) |
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1212 if hasattr(obj1, 'velocities'): |
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1213 velocities = Trajectory() |
1011 | 1214 for t in newInterval: |
1010
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1215 nTotal = 0. |
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1216 p = Point(0.,0.) |
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1217 for obj in tmp: |
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1218 if obj.existsAtInstant(t): |
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1219 if obj.hasFeatures(): |
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1220 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
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1221 else: |
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1222 n = 1. |
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1223 p += obj.getVelocityAtInstant(t).__mul__(n) |
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1224 nTotal += n |
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1225 if nTotal==0: |
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1226 velocities.addPosition(obj1.getVelocityAtInstant(t)) |
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1227 else: |
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1228 velocities.addPosition(p.divide(nTotal)) |
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1229 else: |
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1230 velocities = None |
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1231 |
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1232 newObject = MovingObject(obj1.getNum() if num is None else num, newInterval, positions, velocities, userType = obj1.getUserType()) |
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1233 newObject.features = tmp+[MovingObject(obj1.getNum() if num is None else num, newInterval, positions, velocities, userType = obj1.getUserType())] |
1011 | 1234 else: |
1235 newObject = MovingObject(obj1.getNum() if num is None else num, obj1.getTimeInterval(), obj1.positions, obj1.velocities, userType = obj1.getUserType()) | |
1236 if obj1.features is not None: | |
1237 newObject.features = list(obj1.features) | |
1010
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1238 else: |
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1239 newObject = MovingObject(obj1.getNum() if num is None else num, obj1.getTimeInterval(), obj1.positions, obj1.velocities, userType = obj1.getUserType()) |
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1240 return newObject |
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1241 |
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1242 |
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1243 def updatePosition(self): |
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1244 if self.features is not None: |
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1245 positions = Trajectory() |
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1246 for t in self.getTimeInterval(): |
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1247 nTotal = 0. |
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1248 p = Point(0.,0.) |
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1249 for obj in self.features: |
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1250 if obj.existsAtInstant(t): |
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1251 if obj.hasFeatures(): |
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1252 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
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1253 else: |
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1254 n = 1. |
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1255 p += obj.getPositionAtInstant(t).__mul__(n) |
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1256 nTotal += n |
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1257 assert nTotal>0, 'there should be at least one point for each instant' |
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1258 positions.addPosition(p.divide(nTotal)) |
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1259 self.positions = positions |
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1260 |
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|
1261 @staticmethod |
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|
1262 def concatenate(obj1, obj2, num = None): |
623
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1263 '''Concatenates two objects supposed to overlap temporally ''' |
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1264 if num is None: |
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1265 newNum = obj1.getNum() |
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1266 else: |
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|
1267 newNum = num |
623
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|
1268 commonTimeInterval = obj1.commonTimeInterval(obj2) |
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|
1269 if commonTimeInterval.empty(): |
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1270 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval())) |
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1271 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()) , max(obj1.getFirstInstant(),obj2.getFirstInstant())) |
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1272 positions = Trajectory() |
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1273 if obj1.existsAtInstant(emptyInterval.last): |
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1274 vitessex=(obj1.getPositionAtInstant(emptyInterval.last).x-obj2.getPositionAtInstant(emptyInterval.first).x)/(emptyInterval.last-emptyInterval.first) |
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1275 vitessey=(obj1.getPositionAtInstant(emptyInterval.last).y-obj2.getPositionAtInstant(emptyInterval.first).y)/(emptyInterval.last-emptyInterval.first) |
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1276 px,py=obj2.getPositionAtInstant(emptyInterval.first) |
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1277 else : |
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1278 vitessex=(obj2.getPositionAtInstant(emptyInterval.last).x-obj1.getPositionAtInstant(emptyInterval.first).x)/(emptyInterval.last-emptyInterval.first) |
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1279 vitessey=(obj2.getPositionAtInstant(emptyInterval.last).y-obj1.getPositionAtInstant(emptyInterval.first).y)/(emptyInterval.last-emptyInterval.first) |
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1280 px,py=obj1.getPositionAtInstant(emptyInterval.first) |
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1281 positions = Trajectory() |
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1282 velocities = Trajectory() |
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|
1283 for t in emptyInterval: |
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|
1284 positions.addPositionXY(px,py) |
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|
1285 velocities.addPositionXY(vitessex,vitessey) |
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|
1286 px+=vitessex |
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|
1287 py+=vitessey |
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1288 |
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|
1289 newObject = MovingObject(newNum, emptyInterval, positions, velocities, userType = obj1.getUserType()) |
1010
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1290 newObject.features = [MovingObject(newNum, emptyInterval, positions, velocities, userType = obj1.getUserType())] #In case there is features to add when we recursively call concatenate |
994
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|
1291 return MovingObject.concatenate(MovingObject.concatenate(obj1, newObject),obj2) |
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1292 |
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1293 |
623
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1294 else: |
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|
1295 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval()) |
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1296 # positions |
1010
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1297 positions = Trajectory() |
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1298 for t in newTimeInterval: |
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1299 nTotal = 0. |
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1300 p = Point(0.,0.) |
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1301 for obj in [obj1, obj2]: |
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1302 if obj.existsAtInstant(t): |
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1303 if obj.hasFeatures(): |
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1304 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
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1305 else: |
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1306 n = 1. |
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1307 p += obj.getPositionAtInstant(t).__mul__(n) |
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1308 nTotal += n |
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1309 assert nTotal>0, 'there should be at least one point for each instant' |
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1310 positions.addPosition(p.divide(nTotal)) |
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1311 # velocities: if any |
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1312 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'): |
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1313 velocities = Trajectory() |
623
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1314 for t in newTimeInterval: |
663
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|
1315 nTotal = 0. |
623
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1316 p = Point(0.,0.) |
663
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1317 for obj in [obj1, obj2]: |
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1318 if obj.existsAtInstant(t): |
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1319 if obj.hasFeatures(): |
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1320 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
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1321 else: |
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1322 n = 1. |
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1323 p += obj.getVelocityAtInstant(t).__mul__(n) |
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1324 nTotal += n |
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|
1325 assert nTotal>0, 'there should be at least one point for each instant' |
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1326 velocities.addPosition(p.divide(nTotal)) |
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1327 else: |
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|
1328 velocities = None |
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1329 # TODO object envelop (polygon) |
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1330 # user type |
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1331 if obj1.getUserType() != obj2.getUserType(): |
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1332 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()])) |
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1333 |
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1334 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType()) |
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1335 if obj1.hasFeatures() and obj2.hasFeatures(): |
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1336 newObject.features = obj1.getFeatures()+obj2.getFeatures() |
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1337 return newObject |
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1338 |
43
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1339 def getObjectInTimeInterval(self, inter): |
54
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diff
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1340 '''Returns a new object extracted from self, |
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1341 restricted to time interval inter''' |
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|
1342 intersection = TimeInterval.intersection(inter, self.getTimeInterval()) |
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|
1343 if not intersection.empty(): |
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1344 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
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1345 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
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1346 if self.velocities is not None: |
97
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1347 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
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1348 return obj |
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|
1349 else: |
978
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diff
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|
1350 print('The object does not exist at {}'.format(inter)) |
43
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|
1351 return None |
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1352 |
726
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|
1353 def getObjectsInMask(self, mask, homography = None, minLength = 1): |
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|
1354 '''Returns new objects made of the positions in the mask |
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|
1355 mask is in the destination of the homography space''' |
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added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1356 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1357 self.projectedPositions = self.positions.homographyProject(homography) |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1358 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1359 self.projectedPositions = self.positions |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1360 def inMask(positions, i, mask): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1361 p = positions[i] |
982
51d8406b2489
corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
978
diff
changeset
|
1362 return mask[int(p.y), int(p.x)] != 0. |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1363 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1364 #subTimeIntervals self.getFirstInstant()+i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1365 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1366 # 'connected components' in subTimeIntervals |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1367 l = 0 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1368 intervalLabels = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1369 prev = True |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1370 for i in filteredIndices: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1371 if i: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1372 if not prev: # new interval |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1373 l += 1 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1374 intervalLabels.append(l) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1375 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1376 intervalLabels.append(-1) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1377 prev = i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1378 intervalLabels = array(intervalLabels) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1379 subObjects = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1380 for l in set(intervalLabels): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1381 if l >= 0: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1382 if sum(intervalLabels == l) >= minLength: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1383 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1384 subTimeInterval = TimeInterval(min(times), max(times)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1385 subObjects.append(self.getObjectInTimeInterval(subTimeInterval)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1386 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1387 return subObjects |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1388 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1389 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1390 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1391 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1392 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1393 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1394 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1395 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
|
1396 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
|
1397 |
943
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1398 def computeCumulativeDistances(self): |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1399 self.positions.computeCumulativeDistances() |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1400 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1401 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1402 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1403 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1404 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1405 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1406 |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1407 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1408 if hasattr(self, 'curvilinearPositions'): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1409 if lane is None: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1410 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1411 if withOrigin: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1412 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1413 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1414 instants = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1415 coords = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1416 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1417 if p[2] == lane: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1418 instants.append(t) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1419 coords.append(p[0]) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1420 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1421 instants.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1422 coords.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1423 plot(instants, coords, options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1424 if withOrigin and len(instants)>0: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1425 plot([instants[0]], [coords[0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1426 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1427 print('Object {} has no curvilinear positions'.format(self.getNum())) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1428 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1429 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
|
1430 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
|
1431 |
880
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1432 def setFeatures(self, features, featuresOrdered = False): |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1433 '''Sets the features in the features field based on featureNumbers |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1434 if not all features are loaded from 0, one needs to renumber in a dict''' |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1435 if featuresOrdered: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1436 tmp = features |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1437 else: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1438 tmp = {f.getNum():f for f in features} |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1439 self.features = [tmp[i] for i in self.featureNumbers] |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1440 |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1441 def getFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1442 return self.features |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1443 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1444 def hasFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1445 return (self.features is not None) |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1446 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1447 def getFeature(self, i): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1448 if self.hasFeatures() and i<len(self.features): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1449 return self.features[i] |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1450 else: |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1451 return None |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1452 |
869
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1453 def getNLongestFeatures(self, nFeatures = 1): |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1454 if self.features is None: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1455 return [] |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1456 else: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1457 tmp = utils.sortByLength(self.getFeatures(), reverse = True) |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1458 return tmp[:min(len(tmp), nFeatures)] |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1459 |
666
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1460 def getFeatureNumbers(self): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1461 '''Returns the number of features at each instant |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1462 dict instant -> number of features''' |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1463 if self.hasFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1464 featureNumbers = {} |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1465 for t in self.getTimeInterval(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1466 n = 0 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1467 for f in self.getFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1468 if f.existsAtInstant(t): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1469 n += 1 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1470 featureNumbers[t]=n |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1471 return featureNumbers |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1472 else: |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1473 print('Object {} has no features loaded.'.format(self.getNum())) |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1474 return None |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1475 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1476 def getSpeeds(self, nInstantsIgnoredAtEnds = 0): |
682 | 1477 speeds = self.getVelocities().norm() |
1478 if nInstantsIgnoredAtEnds > 0: | |
1479 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.))) | |
1480 return speeds[n:-n] | |
1481 else: | |
1482 return speeds | |
49 | 1483 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1484 def getAccelerations(self, window_length, polyorder, delta=1.0, axis=-1, mode='interp', cval=0.0, speeds = None, nInstantsIgnoredAtEnds = 0): |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1485 '''Returns the 1-D acceleration from the 1-D speeds |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1486 Caution about previously filtered data''' |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1487 if speeds is None: |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1488 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1489 return savgol_filter(speeds, window_length, polyorder, 1, delta, axis, mode, cval) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1490 |
633
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1491 def getSpeedIndicator(self): |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1492 from indicators import SeverityIndicator |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1493 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()}) |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1494 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1495 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1496 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1497 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1498 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1499 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1500 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1501 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1502 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
|
1503 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1504 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1505 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
|
1506 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1507 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1508 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1509 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1510 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1511 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1512 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1513 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1514 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1515 objNum = self.getNum() |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1516 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1517 objNum = None |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1518 if withFeatures and self.hasFeatures(): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1519 for f in self.getFeatures(): |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1520 f.positions.plot('r', True, timeStep, **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1521 self.positions.plot('bx-', True, timeStep, objNum, **kwargs) |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1522 else: |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1523 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
1524 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1525 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1526 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1527 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, self.getNum(), **kwargs) |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1528 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1529 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs) |
22 | 1530 |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1531 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.): |
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1532 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication) |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
1533 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1534 def speedDiagnostics(self, framerate = 1., display = False, nInstantsIgnoredAtEnds=0): |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1535 speeds = framerate*self.getSpeeds(nInstantsIgnoredAtEnds) |
377 | 1536 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 1537 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 | 1538 if display: |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
1539 from matplotlib.pyplot import figure, axis |
377 | 1540 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1541 self.plot() |
379 | 1542 axis('equal') |
377 | 1543 figure(2) |
1544 plot(list(self.getTimeInterval()), speeds) | |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1545 figure(3) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1546 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter |
377 | 1547 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1548 @staticmethod |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1549 def minMaxDistance(obj1, obj2): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1550 '''Computes the min max distance used for feature grouping''' |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1551 commonTimeInterval = obj1.commonTimeInterval(obj2) |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1552 if not commonTimeInterval.empty(): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1553 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1554 maxDistance = minDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1555 for t in list(commonTimeInterval)[1:]: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1556 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1557 if d<minDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1558 minDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1559 elif d>maxDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1560 maxDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1561 return int(commonTimeInterval.length()), minDistance, maxDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1562 else: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1563 return int(commonTimeInterval.length()), None, None |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1564 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1565 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1566 def distances(obj1, obj2, instant1, _instant2 = None): |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1567 '''Returns the distances between all features of the 2 objects |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1568 at the same instant instant1 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1569 or at instant1 and instant2''' |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1570 if _instant2 is None: |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1571 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1572 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1573 instant2 = _instant2 |
546 | 1574 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1575 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1576 return cdist(positions1, positions2, metric = 'euclidean') | |
1577 | |
1578 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1579 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1580 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1581 |
1582 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1583 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1584 return MovingObject.distances(obj1, obj2, instant1, instant2).max() |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1585 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1586 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1587 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1588 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
|
1589 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1590 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1591 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1592 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1593 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
|
1594 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1595 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1596 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1597 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1598 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1599 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
|
1600 return None |
619
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1601 |
550 | 1602 def setRoutes(self, startRouteID, endRouteID): |
1603 self.startRouteID = startRouteID | |
1604 self.endRouteID = endRouteID | |
546 | 1605 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1606 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
|
1607 '''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
|
1608 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
|
1609 empty list if there is no crossing''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1610 indices, intersections = self.positions.getIntersections(p1, p2) |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1611 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1612 |
949
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1613 def computeTrajectorySimilarities(self, prototypes, lcss): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1614 'Computes the similarities to the prototypes using the LCSS' |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1615 if not hasattr(self, 'prototypeSimilarities'): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1616 self.prototypeSimilarities = [] |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1617 for proto in prototypes: |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1618 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1619 similarities = lcss.similarityTable[-1, :-1].astype(float) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1620 self.prototypeSimilarities.append(similarities/minimum(arange(1.,len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities)))) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1621 |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1622 @staticmethod |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1623 def computePET(obj1, obj2, collisionDistanceThreshold): |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1624 '''Post-encroachment time based on distance threshold |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1625 |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1626 Returns the smallest time difference when the object positions are within collisionDistanceThreshold |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1627 and the instants at which each object is passing through its corresponding position''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1628 positions1 = [p.astuple() for p in obj1.getPositions()] |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1629 positions2 = [p.astuple() for p in obj2.getPositions()] |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1630 n1 = len(positions1) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1631 n2 = len(positions2) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1632 pets = zeros((n1, n2)) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1633 for i,t1 in enumerate(obj1.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1634 for j,t2 in enumerate(obj2.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1635 pets[i,j] = abs(t1-t2) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1636 distances = cdist(positions1, positions2, metric = 'euclidean') |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1637 smallDistances = (distances <= collisionDistanceThreshold) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1638 if smallDistances.any(): |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1639 smallPets = pets[smallDistances] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1640 petIdx = smallPets.argmin() |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1641 distanceIndices = argwhere(smallDistances)[petIdx] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1642 return smallPets[petIdx], obj1.getFirstInstant()+distanceIndices[0], obj2.getFirstInstant()+distanceIndices[1] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1643 else: |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1644 return None, None, None |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1645 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1646 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
|
1647 '''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
|
1648 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1649 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
|
1650 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1651 def projectCurvilinear(self, alignments, ln_mv_av_win=3): |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1652 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1653 (curvilinearPositions instance) which holds information about the |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1654 curvilinear coordinates using alignment metadata. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1655 From Paul St-Aubin's PVA tools |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1656 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1657 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1658 Input: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1659 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1660 alignments = a list of alignments, where each alignment is a list of |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1661 points (class Point). |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1662 ln_mv_av_win = moving average window (in points) in which to smooth |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1663 lane changes. As per tools_math.cat_mvgavg(), this term |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1664 is a search *radius* around the center of the window. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1665 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1666 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1667 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1668 self.curvilinearPositions = CurvilinearTrajectory() |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1669 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1670 #For each point |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1671 for i in xrange(int(self.length())): |
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1672 result = getSYfromXY(self.getPositionAt(i), alignments) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1673 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1674 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1675 if(result is None): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1676 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1677 else: |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1678 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1679 self.curvilinearPositions.addPositionSYL(S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1680 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1681 ## Go back through points and correct lane |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1682 #Run through objects looking for outlier point |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1683 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win) |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1684 ## Recalculate projected point to new lane |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1685 lanes = self.curvilinearPositions.getLanes() |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1686 if(lanes != smoothed_lanes): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1687 for i in xrange(len(lanes)): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1688 if(lanes[i] != smoothed_lanes[i]): |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1689 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1690 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1691 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1692 if(result is None): |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1693 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1694 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1695 else: |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1696 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1697 self.curvilinearPositions.setPosition(i, S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1698 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1699 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1700 '''Computes the trajectory as the mean of all features |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1701 if a feature exists, its position is |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1702 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1703 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1704 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1705 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1706 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1707 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1708 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1709 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1710 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1711 for i in xrange(nFeatures): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1712 for j in xrange(i): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1713 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1714 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1715 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1716 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1717 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1718 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1719 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1720 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1721 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi)) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1722 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1723 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1724 ### |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1725 # User Type Classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1726 ### |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1727 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1728 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1729 slow: non-motorized -> pedestrians |
607 | 1730 fast: motorized -> cars |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1731 |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1732 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile: |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1733 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1734 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1735 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1736 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1737 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1738 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1739 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1740 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1741 '''Classifies road user per road user type |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1742 speedProbabilities are functions return P(speed|class) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1743 in a dictionary indexed by user type names |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1744 Returns probabilities for each class |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1745 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1746 for simple threshold classification, simply pass non-overlapping indicator functions (membership) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1747 e.g. def indic(x): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1748 if abs(x-mu) < sigma: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1749 return 1 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1750 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1751 return x''' |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1752 if not hasattr(self, 'aggregatedSpeed'): |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1753 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
581
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1754 userTypeProbabilities = {} |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1755 for userTypename in speedProbabilities: |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1756 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1757 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1758 return userTypeProbabilities |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1759 |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1760 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0, homography = None, intrinsicCameraMatrix = None, distortionCoefficients = None): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1761 '''Initializes the data structures for classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1762 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1763 TODO? compute speed for longest feature?''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1764 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1765 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1766 self.appearanceClassifier = pedBikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1767 elif self.aggregatedSpeed < bikeCarSpeedThreshold: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1768 self.appearanceClassifier = bikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1769 else: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1770 self.appearanceClassifier = carClassifier |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1771 # project feature positions |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1772 if self.hasFeatures(): |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1773 for f in self.getFeatures(): |
935
0e63a918a1ca
updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
933
diff
changeset
|
1774 pp = cvutils.worldToImageProject(f.getPositions().asArray(), intrinsicCameraMatrix, distortionCoefficients, homography).tolist() |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1775 f.positions = Trajectory(pp) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1776 self.userTypes = {} |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1777 |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1778 def classifyUserTypeHoGSVMAtInstant(self, img, instant, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm): |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1779 '''Extracts the image box around the object |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1780 (of square size max(width, height) of the box around the features, |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1781 with an added px or py for width and height (around the box)) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1782 computes HOG on this cropped image (with parameters rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1783 and applies the SVM model on it''' |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1784 croppedImg = cvutils.imageBox(img, self, instant, width, height, px, py, minNPixels) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
682
diff
changeset
|
1785 if croppedImg is not None and len(croppedImg) > 0: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1786 hog = cvutils.HOG(croppedImg, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm) |
993
e8eabef7857c
update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
987
diff
changeset
|
1787 self.userTypes[instant] = self.appearanceClassifier.predict(hog.reshape(1,hog.size)) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1788 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1789 self.userTypes[instant] = userType2Num['unknown'] |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1790 |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1791 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, maxPercentUnknown = 0.5, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2)): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1792 '''Agregates SVM detections in each image and returns probability |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1793 (proportion of instants with classification in each category) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1794 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1795 images is a dictionary of images indexed by instant |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1796 With default parameters, the general (ped-bike-car) classifier will be used |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1797 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1798 Considered categories are the keys of speedProbabilities''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1799 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'): |
845 | 1800 print('Initializing the data structures for classification by HoG-SVM') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1801 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1802 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1803 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1804 for t in self.getTimeInterval(): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1805 if t not in self.userTypes: |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1806 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1807 # compute P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1808 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1809 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.} |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1810 else: |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1811 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1812 # compute P(Class|Appearance) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1813 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1814 nInstantsUserType[userType2Num['unknown']] = 0 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1815 for t in self.userTypes: |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1816 nInstantsUserType[self.userTypes[t]] += 1 #nInstantsUserType.get(self.userTypes[t], 0) + 1 |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1817 # result is P(Class|Appearance) x P(Speed|Class) |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1818 if nInstantsUserType[userType2Num['unknown']] < maxPercentUnknown*self.length(): # if not too many unknowns |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1819 for userTypeNum in userTypeProbabilities: |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1820 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum] |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1821 # class is the user type that maximizes usertype probabilities |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1822 if nInstantsUserType[userType2Num['unknown']] >= maxPercentUnknown*self.length() and (speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable): # if no speed information and too many unknowns |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1823 self.setUserType(userType2Num['unknown']) |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1824 else: |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1825 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1826 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1827 def classifyUserTypeArea(self, areas, homography): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1828 '''Classifies the object based on its location (projected to image space) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1829 areas is a dictionary of matrix of the size of the image space |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1830 for different road users possible locations, indexed by road user type names |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1831 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1832 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1833 skip frames at beginning/end?''' |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1834 print('not implemented/tested yet') |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1835 if not hasattr(self, projectedPositions): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1836 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1837 self.projectedPositions = obj.positions.homographyProject(homography) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1838 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1839 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1840 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1841 for p in self.projectedPositions: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1842 for userTypename in areas: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1843 if areas[userTypename][p.x, p.y] != 0: |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1844 possibleUserTypes[userType2Enum[userTypename]] += 1 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1845 # what to do: threshold for most common type? self.setUserType() |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1846 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1847 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1848 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1849 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1850 '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
|
1851 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
|
1852 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
|
1853 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
|
1854 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1855 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1856 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1857 '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
|
1858 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
|
1859 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
|
1860 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1861 |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1862 class Prototype(object): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1863 'Class for a prototype' |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1864 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1865 def __init__(self, filename, num, trajectoryType, nMatchings = None): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1866 self.filename = filename |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1867 self.num = num |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1868 self.trajectoryType = trajectoryType |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1869 self.nMatchings = nMatchings |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1870 self.movingObject = None |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1871 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1872 def getFilename(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1873 return self.filename |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1874 def getNum(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1875 return self.num |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1876 def getTrajectoryType(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1877 return self.trajectoryType |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1878 def getNMatchings(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1879 return self.nMatchings |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1880 def getMovingObject(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1881 return self.movingObject |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1882 def setMovingObject(self, o): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1883 self.movingObject = o |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1884 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1885 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1886 ################## |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1887 # Annotations |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1888 ################## |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1889 |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1890 class BBMovingObject(MovingObject): |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1891 '''Class for a moving object represented as a bounding box |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1892 used for series of ground truth annotations using bounding boxes |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1893 and for the output of Urban Tracker http://www.jpjodoin.com/urbantracker/ |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1894 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1895 By default in image space |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1896 |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1897 Its center is the center of the box (generalize to other shapes?) |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1898 (computed after projecting if homography available) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1899 ''' |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1900 |
589
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parents:
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1901 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']): |
768
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updated the bounding box code (the name so that it is general for ground truth and UT)
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1902 super(BBMovingObject, self).__init__(num, timeInterval, userType = userType) |
589
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parents:
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diff
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1903 self.topLeftPositions = topLeftPositions.getPositions() |
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parents:
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diff
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1904 self.bottomRightPositions = bottomRightPositions.getPositions() |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
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parents:
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diff
changeset
|
1905 |
0fa73cbe9fdb
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parents:
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diff
changeset
|
1906 def computeCentroidTrajectory(self, homography = None): |
939
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work in progress
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diff
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1907 self.positions = self.topLeftPositions.add(self.bottomRightPositions).__mul__(0.5) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
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parents:
635
diff
changeset
|
1908 if homography is not None: |
936
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removed all old versions of projection methods
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parents:
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diff
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1909 self.positions = self.positions.homographyProject(homography) |
590
0fa73cbe9fdb
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
1910 |
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parents:
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diff
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1911 def matches(self, obj, instant, matchingDistance): |
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parents:
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1912 '''Indicates if the annotation matches obj (MovingObject) |
594
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1913 with threshold matchingDistance |
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1914 Returns distance if below matchingDistance, matchingDistance+1 otherwise |
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parents:
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diff
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1915 (returns an actual value, otherwise munkres does not terminate)''' |
592
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first match table implementation
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parents:
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diff
changeset
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1916 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant)) |
594
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1917 if d < matchingDistance: |
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1918 return d |
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1919 else: |
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1920 return matchingDistance + 1 |
590
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annotation centroid are computed explicitly and projected at that step if required
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diff
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|
1921 |
723
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diff
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1922 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False): |
594
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1923 '''Computes the CLEAR MOT metrics |
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diff
changeset
|
1924 |
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parents:
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1925 Reference: |
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parents:
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diff
changeset
|
1926 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008) |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
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parents:
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diff
changeset
|
1927 |
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parents:
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diff
changeset
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1928 objects and annotations are supposed to in the same space |
768
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parents:
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diff
changeset
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1929 current implementation is BBMovingObject (bounding boxes) |
592
985a3021cff2
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parents:
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diff
changeset
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1930 mathingDistance is threshold on matching between annotation and object |
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diff
changeset
|
1931 |
594
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1932 TO: tracker output (objects) |
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1933 GT: ground truth (annotations) |
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1934 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
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1935 Output: returns motp, mota, mt, mme, fpt, gt |
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parents:
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diff
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|
1936 mt number of missed GT.frames (sum of the number of GT not detected in each frame) |
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parents:
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1937 mme number of mismatches |
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parents:
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1938 fpt number of false alarm.frames (tracker objects without match in each frame) |
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diff
changeset
|
1939 gt number of GT.frames |
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diff
changeset
|
1940 |
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diff
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1941 if returnMatches is True, return as 2 new arguments the GT and TO matches |
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parents:
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1942 matches is a dict |
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1943 matches[i] is the list of matches for GT/TO i |
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1944 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t |
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parents:
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diff
changeset
|
1945 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm) |
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returns detailed matching information for clear mot
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parents:
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diff
changeset
|
1946 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
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diff
changeset
|
1947 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance? |
594
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parents:
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diff
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1948 (add argument useDistanceForWeights = False)''' |
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diff
changeset
|
1949 from munkres import Munkres |
592
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diff
changeset
|
1950 |
594
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changeset
|
1951 munk = Munkres() |
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1952 dist = 0. # total distance between GT and TO |
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1953 ct = 0 # number of associations between GT and tracker output in each frame |
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changeset
|
1954 gt = 0 # number of GT.frames |
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|
1955 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame) |
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parents:
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|
1956 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame) |
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1957 mme = 0 # number of mismatches |
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diff
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1958 matches = {} # match[i] is the tracker track associated with GT i (using object references) |
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diff
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|
1959 if returnMatches: |
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1960 gtMatches = {a.getNum():{} for a in annotations} |
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parents:
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diff
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|
1961 toMatches = {o.getNum():{} for o in objects} |
956
196a1fd498ba
removing unnecessary complexity of varying number of return elements
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parents:
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diff
changeset
|
1962 else: |
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removing unnecessary complexity of varying number of return elements
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parents:
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|
1963 gtMatches = None |
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removing unnecessary complexity of varying number of return elements
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|
1964 toMatches = None |
592
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first match table implementation
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parents:
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diff
changeset
|
1965 for t in xrange(firstInstant, lastInstant+1): |
594
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parents:
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diff
changeset
|
1966 previousMatches = matches.copy() |
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diff
changeset
|
1967 # go through currently matched GT-TO and check if they are still matched withing matchingDistance |
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diff
changeset
|
1968 toDelete = [] |
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parents:
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diff
changeset
|
1969 for a in matches: |
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parents:
593
diff
changeset
|
1970 if a.existsAtInstant(t) and matches[a].existsAtInstant(t): |
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parents:
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diff
changeset
|
1971 d = a.matches(matches[a], t, matchingDistance) |
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parents:
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diff
changeset
|
1972 if d < matchingDistance: |
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parents:
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diff
changeset
|
1973 dist += d |
592
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parents:
590
diff
changeset
|
1974 else: |
594
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parents:
593
diff
changeset
|
1975 toDelete.append(a) |
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parents:
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diff
changeset
|
1976 else: |
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diff
changeset
|
1977 toDelete.append(a) |
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parents:
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diff
changeset
|
1978 for a in toDelete: |
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parents:
593
diff
changeset
|
1979 del matches[a] |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1980 |
594
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parents:
593
diff
changeset
|
1981 # match all unmatched GT-TO |
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parents:
593
diff
changeset
|
1982 matchedGTs = matches.keys() |
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diff
changeset
|
1983 matchedTOs = matches.values() |
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parents:
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diff
changeset
|
1984 costs = [] |
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parents:
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diff
changeset
|
1985 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs] |
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diff
changeset
|
1986 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs] |
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parents:
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diff
changeset
|
1987 nGTs = len(matchedGTs)+len(unmatchedGTs) |
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parents:
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diff
changeset
|
1988 nTOs = len(matchedTOs)+len(unmatchedTOs) |
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diff
changeset
|
1989 if len(unmatchedTOs) > 0: |
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parents:
593
diff
changeset
|
1990 for a in unmatchedGTs: |
595
17b02c8054d0
added tests and corrected one bug
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parents:
594
diff
changeset
|
1991 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs]) |
594
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parents:
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diff
changeset
|
1992 if len(costs) > 0: |
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parents:
593
diff
changeset
|
1993 newMatches = munk.compute(costs) |
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parents:
593
diff
changeset
|
1994 for k,v in newMatches: |
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parents:
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diff
changeset
|
1995 if costs[k][v] < matchingDistance: |
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parents:
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diff
changeset
|
1996 matches[unmatchedGTs[k]]=unmatchedTOs[v] |
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diff
changeset
|
1997 dist += costs[k][v] |
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parents:
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diff
changeset
|
1998 if debug: |
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changeset
|
1999 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.iteritems()])) |
723
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changeset
|
2000 if returnMatches: |
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parents:
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diff
changeset
|
2001 for a,o in matches.iteritems(): |
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returns detailed matching information for clear mot
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diff
changeset
|
2002 gtMatches[a.getNum()][t] = o.getNum() |
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returns detailed matching information for clear mot
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parents:
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diff
changeset
|
2003 toMatches[o.getNum()][t] = a.getNum() |
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changeset
|
2004 |
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changeset
|
2005 # compute metrics elements |
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diff
changeset
|
2006 ct += len(matches) |
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diff
changeset
|
2007 mt += nGTs-len(matches) |
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2008 fpt += nTOs-len(matches) |
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2009 gt += nGTs |
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2010 # compute mismatches |
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2011 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame |
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2012 mismatches = [] |
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2013 for a in matches: |
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2014 if a in previousMatches: |
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2015 if matches[a] != previousMatches[a]: |
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2016 mismatches.append(a) |
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2017 elif matches[a] in previousMatches.values(): |
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2018 mismatches.append(matches[a]) |
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2019 for a in previousMatches: |
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2020 if a not in matches and previousMatches[a] in matches.values(): |
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2021 mismatches.append(previousMatches[a]) |
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2022 if debug: |
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2023 for mm in set(mismatches): |
978
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corrected print and exception statements for Python 3
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2024 print('{} {}'.format(type(mm), mm.getNum())) |
594
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2025 # some object mismatches may appear twice |
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2026 mme += len(set(mismatches)) |
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2027 |
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2028 if ct > 0: |
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2029 motp = dist/ct |
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2030 else: |
594
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2031 motp = None |
595
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added tests and corrected one bug
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2032 if gt > 0: |
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2033 mota = 1.-float(mt+fpt+mme)/gt |
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2034 else: |
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2035 mota = None |
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removing unnecessary complexity of varying number of return elements
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2036 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches |
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2037 |
62
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moved road user types and added plotting for all road users
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2038 def plotRoadUsers(objects, colors): |
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2039 '''Colors is a PlottingPropertyValues instance''' |
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2040 from matplotlib.pyplot import figure, axis |
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2041 figure() |
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2042 for obj in objects: |
515
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renamed all draw functions to plot for consistency
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2043 obj.plot(colors.get(obj.userType)) |
62
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2044 axis('equal') |
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2045 |
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2046 |
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2047 if __name__ == "__main__": |
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2048 import doctest |
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2049 import unittest |
43
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2050 suite = doctest.DocFileSuite('tests/moving.txt') |
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2051 #suite = doctest.DocTestSuite() |
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2052 unittest.TextTestRunner().run(suite) |
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2053 #doctest.testmod() |
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2054 #doctest.testfile("example.txt") |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
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2055 if shapelyAvailable: |
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|
2056 suite = doctest.DocFileSuite('tests/moving_shapely.txt') |
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2057 unittest.TextTestRunner().run(suite) |