Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 568:538fb47b3007
minor modification
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 06 Aug 2014 00:09:37 -0400 |
parents | 072cedc3f33d |
children | 5adaab9ad160 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils |
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5 import cvutils |
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6 |
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7 from math import sqrt |
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8 from numpy import median |
16 | 9 |
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10 try: |
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11 from shapely.geometry import Polygon, Point as shapelyPoint |
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12 from shapely.prepared import prep |
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13 shapelyAvailable = True |
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14 except ImportError: |
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15 print('Shapely library could not be loaded') |
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16 shapelyAvailable = False |
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17 |
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18 __metaclass__ = type |
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19 |
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20 class Interval(object): |
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21 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 22 def __init__(self, first=0, last=-1, revert = False): |
23 if revert and last<first: | |
24 self.first=last | |
25 self.last=first | |
26 else: | |
27 self.first=first | |
28 self.last=last | |
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29 |
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30 def __str__(self): |
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31 return '[{0}, {1}]'.format(self.first, self.last) |
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32 |
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33 def __repr__(self): |
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34 return self.__str__() |
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35 |
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36 def empty(self): |
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37 return self.first > self.last |
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38 |
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39 def center(self): |
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40 return (self.first+self.last)/2. |
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41 |
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42 def length(self): |
43
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43 '''Returns the length of the interval''' |
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44 return float(max(0,self.last-self.first)) |
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45 |
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46 def equal(self, i2): |
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47 return self.first==i2.first and self.last == i2.last |
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48 |
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49 def getList(self): |
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50 return [self.first, self.last] |
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51 |
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52 def contains(self, instant): |
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53 return (self.first<=instant and self.last>=instant) |
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54 |
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55 def inside(self, interval2): |
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56 '''Indicates if the temporal interval of self is comprised in interval2''' |
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57 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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58 |
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59 @classmethod |
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60 def union(cls, interval1, interval2): |
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61 '''Smallest interval comprising self and interval2''' |
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62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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63 |
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64 @classmethod |
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65 def intersection(cls, interval1, interval2): |
104
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66 '''Largest interval comprised in both self and interval2''' |
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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68 |
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69 def distance(self, interval2): |
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70 if not Interval.intersection(self, interval2).empty(): |
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71 return 0 |
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72 elif self.first > interval2.last: |
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73 return self.first - interval2.last |
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74 elif self.last < interval2.first: |
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75 return interval2.first - self.last |
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76 else: |
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77 return None |
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78 |
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79 |
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80 def unionIntervals(intervals): |
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81 'returns the smallest interval containing all intervals' |
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82 inter = intervals[0] |
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83 for i in intervals[1:]: |
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84 inter = Interval.union(inter, i) |
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85 return inter |
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86 |
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87 |
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88 class TimeInterval(Interval): |
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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90 |
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91 For example: based on frame numbers (hence the modified length method) |
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92 It may be modified directly by setting first and last''' |
26 | 93 |
94 def __init__(self, first=0, last=-1): | |
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95 super(TimeInterval, self).__init__(first, last, False) |
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96 |
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97 @staticmethod |
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98 def fromInterval(inter): |
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99 return TimeInterval(inter.first, inter.last) |
26 | 100 |
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101 def __getitem__(self, i): |
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102 if not self.empty(): |
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103 if isinstance(i, int): |
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104 return self.first+i |
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105 else: |
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106 raise TypeError, "Invalid argument type." |
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107 #elif isinstance( key, slice ): |
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108 |
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109 def __iter__(self): |
107
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110 self.iterInstantNum = -1 |
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111 return self |
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112 |
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113 def next(self): |
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114 if self.iterInstantNum >= self.length()-1: |
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115 raise StopIteration |
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116 else: |
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117 self.iterInstantNum += 1 |
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118 return self[self.iterInstantNum] |
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119 |
26 | 120 def length(self): |
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121 '''Returns the length of the interval''' |
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122 return float(max(0,self.last-self.first+1)) |
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123 |
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124 # class BoundingPolygon: |
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125 # '''Class for a polygon bounding a set of points |
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126 # with methods to create intersection, unions... |
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127 # ''' |
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128 # We will use the polygon class of Shapely |
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129 |
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130 class STObject(object): |
288
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131 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 132 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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133 |
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134 It may not mean that the object is defined |
6 | 135 for all time instants within the time interval''' |
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136 |
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137 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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138 self.num = num |
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139 self.timeInterval = timeInterval |
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140 self.boundingPolygon = boundingPolygon |
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141 |
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142 def empty(self): |
7
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143 return self.timeInterval.empty() or not self.boudingPolygon |
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144 |
329
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145 def getNum(self): |
211 | 146 return self.num |
147 | |
2
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148 def getFirstInstant(self): |
40
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149 return self.timeInterval.first |
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150 |
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151 def getLastInstant(self): |
40
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152 return self.timeInterval.last |
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153 |
43
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154 def getTimeInterval(self): |
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155 return self.timeInterval |
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156 |
108
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157 def existsAtInstant(self, t): |
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158 return self.timeInterval.contains(t) |
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159 |
43
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160 def commonTimeInterval(self, obj2): |
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161 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
43
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162 |
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163 class Point(object): |
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164 def __init__(self, x, y): |
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165 self.x = x |
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166 self.y = y |
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167 |
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168 def __str__(self): |
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169 return '(%f,%f)'%(self.x,self.y) |
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170 |
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171 def __repr__(self): |
98
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172 return self.__str__() |
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173 |
184
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174 def __add__(self, other): |
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175 return Point(self.x+other.x, self.y+other.y) |
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176 |
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177 def __sub__(self, other): |
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178 return Point(self.x-other.x, self.y-other.y) |
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179 |
451
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180 def __neg__(self): |
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181 return Point(-self.x, -self.y) |
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182 |
105
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183 def multiply(self, alpha): |
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184 return Point(self.x*alpha, self.y*alpha) |
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185 |
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186 def plot(self, options = 'o', **kwargs): |
41 | 187 from matplotlib.pylab import plot |
211 | 188 plot([self.x], [self.y], options, **kwargs) |
41 | 189 |
38
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190 def norm2Squared(self): |
43
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191 '''2-norm distance (Euclidean distance)''' |
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192 return self.x**2+self.y**2 |
38
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193 |
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194 def norm2(self): |
288
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195 '''2-norm distance (Euclidean distance)''' |
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196 return sqrt(self.norm2Squared()) |
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197 |
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198 def norm1(self): |
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199 return abs(self.x)+abs(self.y) |
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200 |
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201 def normMax(self): |
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202 return max(abs(self.x),abs(self.y)) |
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203 |
64
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204 def aslist(self): |
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205 return [self.x, self.y] |
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206 |
203
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207 def astuple(self): |
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208 return (self.x, self.y) |
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209 |
223
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210 def asint(self): |
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211 return Point(int(self.x), int(self.y)) |
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212 |
372
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213 if shapelyAvailable: |
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214 def asShapely(self): |
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215 return shapelyPoint(self.x, self.y) |
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216 |
98
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217 def project(self, homography): |
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218 from numpy.core.multiarray import array |
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219 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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220 return Point(projected[0], projected[1]) |
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221 |
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222 def inPolygonNoShapely(self, polygon): |
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223 '''Indicates if the point x, y is inside the polygon |
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224 (array of Nx2 coordinates of the polygon vertices) |
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225 |
92
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226 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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227 |
372
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228 Use Polygon.contains if Shapely is installed''' |
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229 |
372
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230 n = polygon.shape[0]; |
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231 counter = 0; |
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232 |
372
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233 p1 = polygon[0,:]; |
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234 for i in range(n+1): |
372
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235 p2 = polygon[i % n,:]; |
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236 if self.y > min(p1[1],p2[1]): |
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237 if self.y <= max(p1[1],p2[1]): |
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238 if self.x <= max(p1[0],p2[0]): |
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239 if p1[1] != p2[1]: |
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240 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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241 if p1[0] == p2[0] or self.x <= xinters: |
79
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242 counter+=1; |
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243 p1=p2 |
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244 return (counter%2 == 1); |
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245 |
49 | 246 @staticmethod |
67
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247 def dot(p1, p2): |
89
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248 'Scalar product' |
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249 return p1.x*p2.x+p1.y*p2.y |
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250 |
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251 @staticmethod |
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252 def cross(p1, p2): |
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253 'Cross product' |
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254 return p1.x*p2.y-p1.y*p2.x |
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255 |
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256 @staticmethod |
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257 def cosine(p1, p2): |
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258 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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259 |
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260 @staticmethod |
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261 def distanceNorm2(p1, p2): |
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262 return (p1-p2).norm2() |
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263 |
64
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264 @staticmethod |
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265 def plotAll(points, **kwargs): |
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266 from matplotlib.pyplot import scatter |
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267 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
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268 |
378
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269 def similarOrientation(self, refDirection, cosineThreshold): |
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270 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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271 return Point.cosine(self, refDirection) >= cosineThreshold |
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272 |
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273 @staticmethod |
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274 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
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275 '''Computes exact time to collision with a distance threshold |
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276 The unknown of the equation is the time to reach the intersection |
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277 between the relative trajectory of one road user |
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278 and the circle of radius collisionThreshold around the other road user''' |
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279 from math import sqrt |
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280 dv = v1-v2 |
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281 dp = p1-p2 |
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282 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
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283 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
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284 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
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285 |
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286 delta = b**2 - 4*a*c |
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287 if delta >= 0: |
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288 deltaRoot = sqrt(delta) |
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289 ttc1 = (-b + deltaRoot)/(2*a) |
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290 ttc2 = (-b - deltaRoot)/(2*a) |
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291 if ttc1 >= 0 and ttc2 >= 0: |
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292 ttc = min(ttc1,ttc2) |
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293 elif ttc1 >= 0: |
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294 ttc = ttc1 |
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295 elif ttc2 >= 0: |
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296 ttc = ttc2 |
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297 else: # ttc1 < 0 and ttc2 < 0: |
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298 ttc = None |
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299 else: |
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300 ttc = None |
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301 return ttc |
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302 |
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303 |
372
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304 if shapelyAvailable: |
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305 def pointsInPolygon(points, polygon): |
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306 '''Optimized tests of a series of points within (Shapely) polygon ''' |
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307 prepared_polygon = prep(polygon) |
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308 return filter(prepared_polygon.contains, points) |
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309 |
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310 # Functions for coordinate transformation |
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311 # From Paul St-Aubin's PVA tools |
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312 def ppd(*args): |
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313 ''' Get point-to-point distance. |
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314 |
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315 Example usage: |
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316 ============== |
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317 d = ppd(x1,y1,x2,y2) |
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318 d = ppd(P1,P2) |
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319 ''' |
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320 |
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321 if(len(args)==4): [x1,y1,x2,y2] = [args[0],args[1],args[2],args[3]] |
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322 elif(len(args)==2 and hasattr(args[0], '__iter__')): [x1,y1,x2,y2] = [args[0][0],args[0][1],args[1][0],args[1][1]] |
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323 else: raise Exception("Library error: ppd() in tools_geo takes exactly 2 or 4 arguments.") |
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324 return sqrt((x2-x1)**2+(y2-y1)**2) |
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325 |
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326 def subsec_spline_dist(splines): |
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327 ''' Prepare list of spline subsegments from a spline list. |
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328 |
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329 Output: |
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330 ======= |
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331 ss_spline_d[spline #][mode][station] |
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332 |
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333 where: |
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334 mode=0: incremental distance |
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335 mode=1: cumulative distance |
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336 mode=2: cumulative distance with trailing distance |
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337 ''' |
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338 |
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339 from numpy import zeros |
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340 ss_spline_d = [] |
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341 #Prepare subsegment distances |
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342 for spline in range(len(splines)): |
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343 ss_spline_d.append([[],[],[]]) |
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344 ss_spline_d[spline][0] = zeros(len(splines[spline])-1) #Incremental distance |
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345 ss_spline_d[spline][1] = zeros(len(splines[spline])-1) #Cumulative distance |
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346 ss_spline_d[spline][2] = zeros(len(splines[spline])) #Cumulative distance with trailing distance |
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347 for spline_p in range(len(splines[spline])): |
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348 if spline_p > (len(splines[spline]) - 2): |
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349 break |
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350 ss_spline_d[spline][0][spline_p] = ppd(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1]) # TODO use points and remove ppd |
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351 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p]) |
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352 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p]) |
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353 |
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354 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1] |
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355 |
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356 return ss_spline_d |
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357 |
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358 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
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359 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
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360 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
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361 ''' |
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362 if(p0x == p1x and p0y == p1y): |
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363 return False,False |
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364 try: |
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365 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
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366 if(round(p0x, 10) == round(p1x, 10)): |
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367 p1x += 0.0000000001 |
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368 if(round(p0y, 10) == round(p1y, 10)): |
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369 p1y += 0.0000000001 |
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370 #make the calculation |
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371 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)) |
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372 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
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373 except ZeroDivisionError: |
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374 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
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375 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
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376 import pdb; pdb.set_trace() |
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377 return X,Y |
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378 |
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379 def getSYfromXY(qx, qy, splines, spline_assumption_threshold=0.5, mode=0): |
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380 ''' Snap a point (coordinates qx, qy) to it's nearest subsegment of it's nearest spline (from the list splines). |
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381 |
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382 To force snapping to a single spline, pass the spline alone through splines (e.g. splines=[splines[splineNum]]). |
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383 |
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384 Output: |
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385 ======= |
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386 [spline index, |
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387 subsegment leading point index, |
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388 snapped x coordinate, |
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389 snapped y coordinate, |
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390 subsegment distance, |
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391 spline distance, |
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392 orthogonal point offset] |
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393 ''' |
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394 |
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395 #(buckle in, it gets ugly from here on out) |
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396 ss_spline_d = subsec_spline_dist(splines) |
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397 |
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398 temp_dist_min = float('inf') |
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399 #For each spline |
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400 for spline in range(len(splines)): |
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401 #For each spline point |
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402 for spline_p in range(len(splines[spline])): |
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403 if(spline_p > (len(splines[spline]) - 2)): |
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404 break |
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405 #Get point-intersection distance |
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406 X,Y = ppldb2p(qx,qy,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1]) |
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407 if(X == False and Y == False): |
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408 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p)) |
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409 return [False,False,False,False,False,False,False] |
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410 #Check to see if point is not contained by subspline |
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411 if ss_spline_d[spline][0][spline_p]*1.05 < max(ppd(splines[spline][spline_p][0],splines[spline][spline_p][1],X,Y),ppd(splines[spline][spline_p+1][0],splines[spline][spline_p+1][1],X,Y)): continue |
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412 |
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413 #Ok |
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414 temp_dist = ppd(qx,qy,X,Y) |
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415 if(temp_dist < temp_dist_min): |
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416 temp_dist_min = temp_dist |
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417 snappedSpline = spline |
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418 snappedSplineLeadingPoint = spline_p |
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419 snapped_x = X |
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420 snapped_y = Y |
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421 #Jump loop if significantly close |
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422 if(temp_dist < spline_assumption_threshold): break |
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423 |
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424 try: |
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425 #Get sub-segment distance |
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426 subsegmentDistance = ppd(splines[snappedSpline][snappedSplineLeadingPoint][0],splines[snappedSpline][snappedSplineLeadingPoint][1],snapped_x,snapped_y) |
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427 #Get total segment distance |
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428 splineDistanceS = ss_spline_d[snappedSpline][1][snappedSplineLeadingPoint] + subsegmentDistance |
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429 #Get offset distance |
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430 offsetY = ppd(qx,qy, snapped_x,snapped_y) |
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431 |
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432 if(mode): |
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433 direction = getOrientation([splines[snappedSpline][snappedSplineLeadingPoint][0],splines[snappedSpline][snappedSplineLeadingPoint][1]] , [splines[snappedSpline][snappedSplineLeadingPoint+1][0],splines[snappedSpline][snappedSplineLeadingPoint+1][1]] , [qx,qy]) |
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434 if(direction == 'left'): offsetY = -offsetY |
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435 |
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436 return [snappedSpline, snappedSplineLeadingPoint, snapped_x, snapped_y, subsegmentDistance, splineDistanceS, offsetY] |
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437 except: |
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438 return [False,False,False,False,False,False,False] |
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439 |
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440 |
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441 def getXYfromSY(s, y, splineNum, splines, mode = 0): |
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442 ''' Find X,Y coordinate from S,Y data. |
568
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443 if mode = 0 : return Snapped X,Y |
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444 if mode !=0 : return Real X,Y |
567
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445 ''' |
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446 |
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447 #(buckle in, it gets ugly from here on out) |
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448 ss_spline_d = subsec_spline_dist(splines) |
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449 |
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450 #Find subsegment |
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451 snapped_x = None |
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452 snapped_y = None |
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453 for spline_ss_index in range(len(ss_spline_d[splineNum][1])): |
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454 if(s < ss_spline_d[splineNum][1][spline_ss_index]): |
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455 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1] |
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456 #Get normal vector and then snap |
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457 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0]) |
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458 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1]) |
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459 magnitude = sqrt(vector_l_x**2 + vector_l_y**2) |
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460 n_vector_x = vector_l_x/magnitude |
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461 n_vector_y = vector_l_y/magnitude |
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462 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x |
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463 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y |
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464 |
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465 #Real values (including orthogonal projection of y)) |
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466 real_x = snapped_x - y*n_vector_y |
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467 real_y = snapped_y + y*n_vector_x |
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468 break |
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469 |
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470 if mode == 0 or (not snapped_x): |
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471 if(not snapped_x): |
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472 snapped_x = splines[splineNum][-1][0] |
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473 snapped_y = splines[splineNum][-1][1] |
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474 return [snapped_x,snapped_y] |
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475 else: |
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476 return [real_x,real_y] |
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477 |
372
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478 |
290
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479 class NormAngle(object): |
288
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480 '''Alternate encoding of a point, by its norm and orientation''' |
245
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481 |
250
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482 def __init__(self, norm, angle): |
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483 self.norm = norm |
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484 self.angle = angle |
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485 |
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486 @staticmethod |
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487 def fromPoint(p): |
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488 from math import atan2 |
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489 norm = p.norm2() |
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490 if norm > 0: |
259
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491 angle = atan2(p.y, p.x) |
339 | 492 else: |
493 angle = 0. | |
250
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494 return NormAngle(norm, angle) |
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495 |
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496 def __add__(self, other): |
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497 'a norm cannot become negative' |
255
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498 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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499 |
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500 def getPoint(self): |
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501 from math import cos, sin |
255
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502 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
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503 |
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504 |
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505 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
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506 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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507 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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508 |
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509 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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510 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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511 speedOrientation is the other encoding of velocity, (speed, orientation) |
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512 speedOrientation and control are NormAngle''' |
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513 predictedSpeedTheta = speedOrientation+control |
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514 if maxSpeed: |
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515 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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516 predictedPosition = position+predictedSpeedTheta.getPoint() |
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517 return predictedPosition, predictedSpeedTheta |
245
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|
518 |
244
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519 |
290
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520 class FlowVector(object): |
184
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521 '''Class to represent 4-D flow vectors, |
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522 ie a position and a velocity''' |
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523 def __init__(self, position, velocity): |
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524 'position and velocity should be Point instances' |
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525 self.position = position |
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526 self.velocity = velocity |
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527 |
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528 def __add__(self, other): |
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529 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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530 |
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531 def multiply(self, alpha): |
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532 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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533 |
515
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|
534 def plot(self, options = '', **kwargs): |
184
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535 from matplotlib.pylab import plot |
211 | 536 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
515
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|
537 self.position.plot(options+'x', **kwargs) |
184
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538 |
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539 @staticmethod |
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540 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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541 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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542 |
359
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543 def intersection(p1, p2, dp1, dp2): |
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544 '''Returns the intersection point between the two lines |
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545 defined by the respective vectors (dp) and origin points (p)''' |
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546 from numpy import matrix |
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547 from numpy.linalg import linalg |
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548 A = matrix([[dp1.y, -dp1.x], |
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549 [dp2.y, -dp2.x]]) |
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550 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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551 [dp2.y*p2.x-dp2.x*p2.y]]) |
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552 |
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553 if linalg.det(A) == 0: |
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554 return None |
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555 else: |
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556 intersection = linalg.solve(A,B) |
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557 return Point(intersection[0,0], intersection[1,0]) |
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558 |
152
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559 def segmentIntersection(p1, p2, p3, p4): |
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560 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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561 |
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562 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
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563 return None |
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564 else: |
359
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565 dp1 = p2-p1 |
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566 dp3 = p4-p3 |
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567 inter = intersection(p1, p3, dp1, dp3) |
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568 if (inter != None |
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569 and utils.inBetween(p1.x, p2.x, inter.x) |
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570 and utils.inBetween(p3.x, p4.x, inter.x) |
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571 and utils.inBetween(p1.y, p2.y, inter.y) |
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572 and utils.inBetween(p3.y, p4.y, inter.y)): |
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573 return inter |
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574 else: |
258
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575 return None |
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576 |
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577 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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re-organized code to avoid cyclic python module dependencies
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diff
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|
578 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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diff
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|
579 class Trajectory(object): |
288
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diff
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580 '''Class for trajectories: temporal sequence of positions |
22 | 581 |
288
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diff
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|
582 The class is iterable''' |
7
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diff
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|
583 |
79
5d487f183fe2
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diff
changeset
|
584 def __init__(self, positions=None): |
331
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corrected a bug for Trajectory initialization
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diff
changeset
|
585 if positions != None: |
113
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diff
changeset
|
586 self.positions = positions |
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diff
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587 else: |
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diff
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|
588 self.positions = [[],[]] |
43
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methods for trajectories and objects
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41
diff
changeset
|
589 |
6d11d9e7ad4e
methods for trajectories and objects
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diff
changeset
|
590 @staticmethod |
555
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diff
changeset
|
591 def generate(p, v, nPoints): |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
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diff
changeset
|
592 t = Trajectory() |
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added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
593 p0 = Point(p.x, p.y) |
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diff
changeset
|
594 t.addPosition(p0) |
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added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
595 for i in xrange(nPoints-1): |
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added static methods to create trajectories and moving objects
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parents:
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diff
changeset
|
596 p0 += v |
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added static methods to create trajectories and moving objects
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diff
changeset
|
597 t.addPosition(p0) |
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diff
changeset
|
598 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints]) |
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parents:
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diff
changeset
|
599 |
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added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
600 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
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diff
changeset
|
601 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
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41
diff
changeset
|
602 return Trajectory([[float(n) for n in line1.split(' ')], |
6d11d9e7ad4e
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parents:
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diff
changeset
|
603 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
604 |
256
dc1faa7287bd
added the normal adaptation class
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255
diff
changeset
|
605 @staticmethod |
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added the normal adaptation class
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parents:
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diff
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|
606 def fromPointList(points): |
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added the normal adaptation class
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diff
changeset
|
607 t = Trajectory() |
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added the normal adaptation class
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diff
changeset
|
608 for p in points: |
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added the normal adaptation class
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parents:
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diff
changeset
|
609 t.addPosition(p) |
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added the normal adaptation class
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diff
changeset
|
610 return t |
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added the normal adaptation class
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diff
changeset
|
611 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
612 def __len__(self): |
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added class for trajectories in curvilinear coordinates
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parents:
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diff
changeset
|
613 return len(self.positions[0]) |
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added class for trajectories in curvilinear coordinates
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diff
changeset
|
614 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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318
diff
changeset
|
615 def length(self): |
42f2b46ec210
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diff
changeset
|
616 return self.__len__() |
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added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
617 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
618 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
|
619 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
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parents:
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diff
changeset
|
620 return Point(self.positions[0][i], self.positions[1][i]) |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
621 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
622 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
623 #elif isinstance( key, slice ): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
624 |
16 | 625 def __str__(self): |
39 | 626 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 627 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
628 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
|
629 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
630 |
546 | 631 |
22 | 632 def __iter__(self): |
633 self.iterInstantNum = 0 | |
634 return self | |
635 | |
636 def next(self): | |
637 if self.iterInstantNum >= self.length(): | |
638 raise StopIteration | |
639 else: | |
640 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
641 return self[self.iterInstantNum-1] |
22 | 642 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
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diff
changeset
|
643 def setPositionXY(self, i, x, y): |
42f2b46ec210
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parents:
318
diff
changeset
|
644 if i < self.__len__(): |
42f2b46ec210
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diff
changeset
|
645 self.positions[0][i] = x |
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parents:
318
diff
changeset
|
646 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
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parents:
185
diff
changeset
|
647 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
648 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
649 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
650 |
71
45e958ccd9bd
added new addPosition method to Trajectory
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parents:
69
diff
changeset
|
651 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
|
652 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
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diff
changeset
|
653 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
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parents:
6
diff
changeset
|
654 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
655 def addPosition(self, p): |
79
5d487f183fe2
added method to test points in polygons and tests
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parents:
74
diff
changeset
|
656 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
|
657 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
658 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
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parents:
339
diff
changeset
|
659 self.positions[0].append(self.positions[0][-1]) |
74e437ab5f11
first version of indicator loading code
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parents:
339
diff
changeset
|
660 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
|
661 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
662 @staticmethod |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
663 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
664 from matplotlib.pylab import plot |
203
e2f31813ade6
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parents:
185
diff
changeset
|
665 if lastCoordinate == None: |
270
05c9b0cb8202
updates for drawing
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parents:
268
diff
changeset
|
666 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
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parents:
185
diff
changeset
|
667 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
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parents:
268
diff
changeset
|
668 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
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152
diff
changeset
|
669 if withOrigin: |
211 | 670 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
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parents:
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diff
changeset
|
671 |
203
e2f31813ade6
added code to display trajectories on videa
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parents:
185
diff
changeset
|
672 def project(self, homography): |
318 | 673 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
674 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
675 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
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parents:
504
diff
changeset
|
676 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
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parents:
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diff
changeset
|
677 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
678 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
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parents:
504
diff
changeset
|
679 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
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parents:
185
diff
changeset
|
680 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
681 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
d3f6de6c3918
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parents:
152
diff
changeset
|
682 from matplotlib.pylab import plot |
d3f6de6c3918
added drawing functialities, in particular on aerial image
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parents:
152
diff
changeset
|
683 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
d3f6de6c3918
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152
diff
changeset
|
684 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
685 Trajectory._plot(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
686 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
687 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
688 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
689 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
690 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
691 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
|
692 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
693 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
|
694 from numpy.core.multiarray import array |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
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parents:
91
diff
changeset
|
695 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
696 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
697 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
698 # look for function that does min and max in one pass |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
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parents:
256
diff
changeset
|
699 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
700 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
701 def yBounds(self): |
e7bbe8465591
homography and other utils
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parents:
13
diff
changeset
|
702 # 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
|
703 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
704 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
705 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
706 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
707 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
708 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
709 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
710 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
711 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
|
712 [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
|
713 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
714 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
715 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
716 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
717 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
718 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
719 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
720 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
|
721 [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
|
722 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
723 def differentiate(self, doubleLastPosition = False): |
339 | 724 diff = Trajectory() |
725 for i in xrange(1, self.length()): | |
726 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
|
727 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
728 diff.addPosition(diff[-1]) |
339 | 729 return diff |
730 | |
16 | 731 def norm(self): |
732 '''Returns the list of the norms at each instant''' | |
733 # def add(x, y): return x+y | |
734 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
735 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
736 from numpy import hypot |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
737 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
738 |
49 | 739 def cumulatedDisplacement(self): |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
740 'Returns the sum of the distances between each successive point' |
49 | 741 displacement = 0 |
742 for i in xrange(self.length()-1): | |
743 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
744 return displacement | |
745 | |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
746 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
747 '''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
|
748 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
|
749 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
750 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
751 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
752 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
753 count += 1 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
754 if count > lengthThreshold: |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
755 return True |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
756 return False |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
757 |
49 | 758 def wiggliness(self): |
759 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
760 | |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
761 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
762 '''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
|
763 intersects with the segment of extremities p1 and p2 |
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
764 the list is empty if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
765 indices = [] |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
766 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
767 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
768 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
769 q2=self.__getitem__(i+1) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
770 p = utils.segmentIntersection(q1, q2, p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
771 if p: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
772 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
773 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
774 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
775 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
776 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
777 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
778 indices.append(i+ratio) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
779 return indices |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
780 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
781 def getTrajectoryInInterval(self, inter): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
782 if inter.first >=0 and inter.last<= self.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
783 return Trajectory([self.positions[0][inter.first:inter.last], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
784 self.positions[1][inter.first:inter.last]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
785 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
786 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
787 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
788 def getTrajectoryInPolygonNoShapely(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
789 '''Returns the trajectory built with the set of points inside the polygon |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
790 (array of Nx2 coordinates of the polygon vertices)''' |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
791 traj = Trajectory() |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
792 for p in self: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
793 if p.inPolygonNoShapely(polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
794 traj.addPosition(p) |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
795 return traj |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
796 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
797 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
|
798 def getTrajectoryInPolygon(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
799 '''Returns the trajectory built with the set of points inside the (shapely) polygon''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
800 traj = Trajectory() |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
801 points = [p.asShapely() for p in self] |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
802 for p in pointsInPolygon(points, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
803 traj.addPositionXY(p.x, p.y) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
804 return traj |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
805 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
806 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
807 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
808 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
809 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
810 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
811 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
812 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
813 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
814 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
815 def __init__(self, S = None, Y = None, lanes = None): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
816 if S == None or Y == 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
|
817 self.positions = [[],[]] |
552
ca6bded754ac
corrected more bugs from merging (caught in regression tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
551
diff
changeset
|
818 if S != None and Y != None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
819 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
|
820 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
821 self.positions = [S,Y] |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
822 if lanes == 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
|
823 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
|
824 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
825 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
826 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
827 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
|
828 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
|
829 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
|
830 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
831 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
832 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
833 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
834 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
835 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
836 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
837 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
838 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
839 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
840 def addPositionSYL(self, s, y, lane): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
841 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
842 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
843 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
844 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
|
845 '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
|
846 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
|
847 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
848 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
|
849 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
850 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
851 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
852 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
853 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
|
854 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
855 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
|
856 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
|
857 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
|
858 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
|
859 p1=p2 |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
860 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
861 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
|
862 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
863 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
864 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
865 '''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
|
866 goes past the curvilinear coordinate S1 |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
867 (in provided lane if lane != None) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
868 the list is empty if there is no crossing''' |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
869 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
870 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
871 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
872 q2=self.__getitem__(i+1) |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
873 if q1[0] <= S1 < q2[0] and (lane == 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
|
874 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
|
875 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
876 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
877 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
878 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
879 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
880 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
881 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
|
882 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
883 '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
|
884 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
885 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
886 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
887 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
888 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
889 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
890 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
891 class MovingObject(STObject): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
892 '''Class for moving objects: a spatio-temporal object |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
893 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
894 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
895 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
896 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
|
897 super(MovingObject, self).__init__(num, timeInterval) |
16 | 898 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
899 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
900 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
901 self.userType = userType |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
902 self.features = [] |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
903 # compute bounding polygon from trajectory |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
904 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
905 @staticmethod |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
906 def generate(p, v, timeInterval): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
907 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
908 return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
909 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
910 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
911 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
912 restricted to time interval inter''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
913 intersection = TimeInterval.intersection(inter, self.getTimeInterval()) |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
914 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
915 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
916 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
917 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
918 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
919 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
920 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
921 print 'The object does not exist at '+str(inter) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
922 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
923 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
924 def length(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
925 return self.timeInterval.length() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
926 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
927 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
928 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
929 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
930 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
931 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
932 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
933 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
|
934 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
|
935 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
936 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
937 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
938 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
939 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
940 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
941 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
942 def setUserType(self, userType): |
a70c205ebdd9
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diff
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|
943 self.userType = userType |
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diff
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|
944 |
268
0c0b92f621f6
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diff
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|
945 def setFeatures(self, features): |
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diff
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|
946 self.features = [features[i] for i in self.featureNumbers] |
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diff
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|
947 |
49 | 948 def getSpeeds(self): |
949 return self.getVelocities().norm() | |
950 | |
38
0d321c23d337
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30
diff
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|
951 def getPositionAt(self, i): |
0d321c23d337
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diff
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|
952 return self.positions[i] |
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30
diff
changeset
|
953 |
0d321c23d337
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30
diff
changeset
|
954 def getVelocityAt(self, i): |
0d321c23d337
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30
diff
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|
955 return self.velocities[i] |
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diff
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|
956 |
67
ded58c424783
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diff
changeset
|
957 def getPositionAtInstant(self, i): |
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diff
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|
958 return self.positions[i-self.getFirstInstant()] |
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diff
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|
959 |
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diff
changeset
|
960 def getVelocityAtInstant(self, i): |
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diff
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|
961 return self.velocities[i-self.getFirstInstant()] |
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diff
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|
962 |
21
3c4629550f5f
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diff
changeset
|
963 def getXCoordinates(self): |
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diff
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|
964 return self.positions.getXCoordinates() |
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diff
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|
965 |
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diff
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|
966 def getYCoordinates(self): |
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diff
changeset
|
967 return self.positions.getYCoordinates() |
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diff
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|
968 |
517
47d9970ee954
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diff
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|
969 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
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diff
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|
970 if withFeatures: |
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diff
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|
971 for f in self.features: |
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diff
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|
972 f.positions.plot('r', True, timeStep, **kwargs) |
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diff
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|
973 self.positions.plot('bx-', True, timeStep, **kwargs) |
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diff
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|
974 else: |
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diff
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|
975 self.positions.plot(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
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diff
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|
976 |
515
727e3c529519
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504
diff
changeset
|
977 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
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504
diff
changeset
|
978 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 979 |
248
571ba5ed22e2
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diff
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|
980 def play(self, videoFilename, homography = None): |
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245
diff
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|
981 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
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diff
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|
982 |
378
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diff
changeset
|
983 def speedDiagnostics(self, framerate = 1., display = False): |
377 | 984 from numpy import std |
378
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diff
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|
985 from scipy.stats import scoreatpercentile |
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diff
changeset
|
986 speeds = framerate*self.getSpeeds() |
377 | 987 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 988 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 | 989 if display: |
379 | 990 from matplotlib.pyplot import figure, plot, axis |
377 | 991 figure(1) |
515
727e3c529519
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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504
diff
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|
992 self.plot() |
379 | 993 axis('equal') |
377 | 994 figure(2) |
995 plot(list(self.getTimeInterval()), speeds) | |
996 | |
378
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diff
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|
997 @staticmethod |
551
dc3739ac2371
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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550
diff
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|
998 def distances(obj1, obj2, instant1, _instant2 = None): |
378
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diff
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|
999 from scipy.spatial.distance import cdist |
551
dc3739ac2371
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550
diff
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|
1000 if _instant2 == None: |
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550
diff
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|
1001 instant2 = instant1 |
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diff
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|
1002 else: |
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diff
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|
1003 instant2 = _instant2 |
546 | 1004 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1005 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1006 return cdist(positions1, positions2, metric = 'euclidean') | |
1007 | |
1008 @staticmethod | |
551
dc3739ac2371
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diff
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|
1009 def minDistance(obj1, obj2, instant1, instant2 = None): |
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diff
changeset
|
1010 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1011 |
1012 @staticmethod | |
551
dc3739ac2371
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diff
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|
1013 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
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diff
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|
1014 return MovingObject.distances(obj1, obj2, instant1, instant2).max() |
378
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diff
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|
1015 |
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diff
changeset
|
1016 def maxSize(self): |
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diff
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|
1017 '''Returns the max distance between features |
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diff
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|
1018 at instant there are the most features''' |
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diff
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|
1019 if hasattr(self, 'features'): |
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diff
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|
1020 nFeatures = -1 |
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diff
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|
1021 tMaxFeatures = 0 |
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diff
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|
1022 for t in self.getTimeInterval(): |
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diff
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|
1023 n = len([f for f in self.features if f.existsAtInstant(t)]) |
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diff
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|
1024 if n > nFeatures: |
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377
diff
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|
1025 nFeatures = n |
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diff
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|
1026 tMaxFeatures = t |
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diff
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|
1027 return MovingObject.maxDistance(self, self, tMaxFeatures) |
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377
diff
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|
1028 else: |
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parents:
377
diff
changeset
|
1029 print('Load features to compute a maximum size') |
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diff
changeset
|
1030 return None |
546 | 1031 |
550 | 1032 def setRoutes(self, startRouteID, endRouteID): |
1033 self.startRouteID = startRouteID | |
1034 self.endRouteID = endRouteID | |
546 | 1035 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1036 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
|
1037 '''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
|
1038 at which the object passes from one side of the segment to the other |
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54
diff
changeset
|
1039 empty list if there is no crossing''' |
83
41da2cdcd91c
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79
diff
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|
1040 indices = self.positions.getIntersections(p1, p2) |
41da2cdcd91c
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79
diff
changeset
|
1041 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1042 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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243
diff
changeset
|
1043 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
e0988a8ace0c
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diff
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|
1044 '''Predicts the position of object at instant+deltaT, |
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diff
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|
1045 at constant speed''' |
255
13ec22bec5d4
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250
diff
changeset
|
1046 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
243
e0988a8ace0c
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diff
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|
1047 |
567
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diff
changeset
|
1048 def transformToCurvilinear(objects, alignments, ln_mv_av_win=3, verbose=0): |
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diff
changeset
|
1049 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()' |
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diff
changeset
|
1050 (curvilinearPositions instance) which holds information about the |
072cedc3f33d
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diff
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|
1051 curvilinear coordinates using alignment metadata. |
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diff
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|
1052 From Paul St-Aubin's PVA tools |
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diff
changeset
|
1053 ====== |
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diff
changeset
|
1054 |
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diff
changeset
|
1055 Input: |
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diff
changeset
|
1056 ====== |
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diff
changeset
|
1057 objects = list of objects supplied by Traffic Intelligence |
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diff
changeset
|
1058 alignments = a list of alignments, where each alignment is a list of |
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diff
changeset
|
1059 points, where each point is a list of coordinates, e.g. |
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diff
changeset
|
1060 alignments[alpha][1][x] is coordinate x for point number |
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diff
changeset
|
1061 1 of the spline that represents alignment alpha. |
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diff
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|
1062 alignments can also be a compatible object that mimics a |
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diff
changeset
|
1063 3-dimensional list using the __getitem__() method as is |
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diff
changeset
|
1064 the case in the PVAT specification. |
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diff
changeset
|
1065 ln_mv_av_win = moving average window (in points) in which to smooth |
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diff
changeset
|
1066 lane changes. As per tools_math.cat_mvgavg(), this term |
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diff
changeset
|
1067 is a search *radius* around the center of the window. |
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diff
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|
1068 |
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diff
changeset
|
1069 Output: (objects, dropped_traj) |
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diff
changeset
|
1070 ======= |
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|
1071 objects = modified list of objects |
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changeset
|
1072 dropped_traj = list of objects or object segments that were |
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diff
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|
1073 truncated. The format is identical to that of objects. |
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diff
changeset
|
1074 ''' |
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1075 if(len(objects) <= 0): return None, None |
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1076 if(verbose >= 2): |
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1077 print(' -------------') |
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1078 print(' Transforming coordinates...') |
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1079 |
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1080 lane_readjustments = 0 |
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1081 dropped_traj = [] |
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1082 original_object_length = len(objects) |
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1083 reset_objects = 0 |
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1084 |
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1085 #if(not isinstance(objects, list)): |
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1086 # objects = [objects] |
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1087 # reset_objects = 1 |
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1088 #if(not isinstance(objects[0], TrafIntMoving.MovingObject)): |
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1089 # return objects, dropped_traj |
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1090 |
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1091 #For each object |
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1092 for i in range(len(objects)): |
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1093 objects[i].curvilinearPositions = CurvilinearTrajectory([],[],[]) |
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1094 |
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1095 #For each point |
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1096 for point in range(len(objects[i].getXCoordinates())): |
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1097 [align, alignPoint, snapped_x, snapped_y, subsegmentDistance, S, Y] = PvaTools.Geo.getSYfromXY(objects[i].getXCoordinates()[point],objects[i].getYCoordinates()[point],alignments) |
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1098 |
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1099 # Error handling |
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1100 if(align is False): |
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1101 if(verbose >= 2): print(' Warning: trajectory '+str(i)+' at point '+str(point)+' has alignment errors (spline snapping)') |
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1102 dropped_traj.append(objects[i]) |
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1103 objects[i] = None |
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1104 break |
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1105 else: objects[i].curvilinearPositions.addPosition(S, Y, align) |
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1106 |
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1107 if(objects[i] == None): continue |
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1108 |
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1109 ## Go back through points and correct lane |
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1110 #Run through objects looking for outlier point |
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1111 smoothed_lanes = PvaTools.Math.cat_mvgavg(objects[i].curvilinearPositions.getLanes(),window=ln_mv_av_win) |
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1112 ## Recalculate smoothed lanes |
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1113 if(objects[i].curvilinearPositions.getLanes() != smoothed_lanes): |
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1114 for point in range(len(objects[i].getXCoordinates())): |
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1115 if(objects[i].curvilinearPositions.getLanes()[point] != smoothed_lanes[point]): |
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1116 [align, alignPoint, snapped_x, snapped_y, subsegmentDistance, S, Y] = PvaTools.Geo.getSYfromXY(objects[i].getXCoordinates()[point],objects[i].getYCoordinates()[point],[alignments[smoothed_lanes[point]]]) |
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1117 |
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1118 # Error handling |
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1119 if(align is False): |
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1120 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
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1121 if(verbose >= 4): print(' Warning: trajectory '+str(i)+' at point '+str(point)+' has alignment errors during trajectory smoothing and will not be corrected.') |
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1122 else: |
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1123 objects[i].curvilinearPositions.setPosition(point, S, Y, align) |
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1124 |
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1125 #Resize objects |
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1126 if(len(dropped_traj) > 0): |
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1127 objects = filter(None, objects) |
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1128 if(verbose >= 2): print(' Filtering report: Trajectories dropped: '+str(len(dropped_traj))) |
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1129 if(verbose >= 2): print(' Filtering report: Lane observation corrections per object: '+str(lane_readjustments/original_object_length)) |
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1130 |
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1131 if(reset_objects and len(objects) > 0): return objects[0], dropped_traj |
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1132 else: return objects, dropped_traj |
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|
1133 |
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|
1134 |
562
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1135 def computeSmoothTrajectory(self, minCommonIntervalLength): |
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1136 '''Computes the trajectory as the mean of all features |
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|
1137 if a feature exists, its position is |
567
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|
1138 |
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1139 Warning work in progress |
562
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1140 TODO? not use the first/last 1-.. positions''' |
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|
1141 from numpy import array, median |
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|
1142 nFeatures = len(self.features) |
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|
1143 if nFeatures == 0: |
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|
1144 print('Empty object features\nCannot compute smooth trajectory') |
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|
1145 else: |
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|
1146 # compute the relative position vectors |
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|
1147 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
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diff
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|
1148 for i in xrange(nFeatures): |
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diff
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|
1149 for j in xrange(i): |
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1150 fi = self.features[i] |
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|
1151 fj = self.features[j] |
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|
1152 inter = fi.commonTimeInterval(fj) |
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diff
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|
1153 if inter.length() >= minCommonIntervalLength: |
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diff
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|
1154 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
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1155 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
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|
1156 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
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|
1157 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
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1158 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi)) |
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|
1159 relativePositions[(j,i)] = -relativePositions[(i,j)] |
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|
1160 |
522
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|
1161 ### |
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|
1162 # User Type Classification |
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|
1163 ### |
524
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
1164 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, ignoreNInstantsAtEnds = 0): |
345
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|
1165 '''Classifies slow and fast road users |
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|
1166 slow: non-motorized -> pedestrians |
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|
1167 fast: motorized -> cars''' |
501
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484
diff
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|
1168 if ignoreNInstantsAtEnds > 0: |
522
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|
1169 speeds = self.getSpeeds()[ignoreNInstantsAtEnds:-ignoreNInstantsAtEnds] |
501
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1170 else: |
522
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|
1171 speeds = self.getSpeeds() |
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1172 if aggregationFunc(speeds) >= threshold: |
345
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1173 self.setUserType(userType2Num['car']) |
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1174 else: |
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|
1175 self.setUserType(userType2Num['pedestrian']) |
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|
1176 |
524
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|
1177 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median): |
522
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|
1178 '''Classifies road user per road user type |
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|
1179 speedProbabilities are functions return P(speed|class) |
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|
1180 in a dictionary indexed by user type names |
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|
1181 Returns probabilities for each class |
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|
1182 |
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|
1183 for simple threshold classification, simply pass non-overlapping indicator functions (membership) |
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1184 e.g. def indic(x): |
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1185 if abs(x-mu) < sigma: |
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1186 return 1 |
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1187 else: |
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1188 return x''' |
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1189 if not hasattr(self, aggregatedSpeed): |
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1190 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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1191 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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1192 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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1193 return userTypeProbabilities |
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1194 |
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1195 def initClassifyUserTypeHoGSVM(self, aggregationFunc = median): |
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1196 '''Initializes the data structures for classification |
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1197 |
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1198 TODO? compute speed for longest feature? |
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1199 Skip beginning and end of feature for speed? Offer options instead of median''' |
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1200 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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1201 self.userTypes = {} |
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1202 |
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1203 def classifyUserTypeHoGSVMAtInstant(self, img, pedBikeCarSVM, instant, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), px = 0.2, py = 0.2, pixelThreshold = 800): |
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1204 '''Extract the image box around the object and |
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1205 applies the SVM model on it''' |
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1206 from numpy import array |
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1207 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, self, instant, homography, width, height, px, py, pixelThreshold) |
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1208 if len(croppedImg) > 0: # != [] |
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1209 hog = array([cvutils.HOG(croppedImg)], dtype = np.float32) |
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1210 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM == None: |
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1211 self.userTypes[instant] = int(pedBikeCarSVM.predict(hog)) |
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1212 elif self.aggregatedSpeed < bikeCarSpeedTreshold: |
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1213 self.userTypes[instant] = int(bikeCarSVM.predict(hog)) |
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1214 else: |
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1215 self.userTypes[instant] = userType2Num['car'] |
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1216 else: |
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1217 self.userTypes[instant] = userType2Num['unknown'] |
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1218 |
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1219 def classifyUserTypeHoGSVM(self, images, pedBikeCarSVM, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), speedProbabilities = None, aggregationFunc = median, px = 0.2, py = 0.2, pixelThreshold = 800): |
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1220 '''Agregates SVM detections in each image and returns probability |
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1221 (proportion of instants with classification in each category) |
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1222 |
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1223 iamges is a dictionary of images indexed by instant |
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1224 With default parameters, the general (ped-bike-car) classifier will be used |
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1225 TODO? consider all categories?''' |
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1226 if not hasattr(self, aggregatedSpeed) or not hasattr(self, userTypes): |
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1227 print('Initilize the data structures for classification by HoG-SVM') |
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1228 self.initClassifyUserTypeHoGSVM(aggregationFunc) |
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1229 |
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1230 if len(self.userTypes) != self.length(): # if classification has not been done previously |
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1231 for t in self.getTimeInterval(): |
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1232 if t not in self.userTypes: |
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1233 self.classifyUserTypeHoGSVMAtInstant(images[t], pedBikeCarSVM, t, homography, width, height, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, px, py, pixelThreshold) |
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1234 # compute P(Speed|Class) |
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1235 if speedProbabilities == None: # equiprobable information from speed |
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1236 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.} |
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1237 else: |
522
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1238 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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1239 # result is P(Class|Appearance) x P(Speed|Class) |
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1240 nInstantsUserType = {userType2Num[userTypename]: 0 for userTypename in userTypeProbabilities}# number of instants the object is classified as userTypename |
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1241 for t in self.userTypes: |
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1242 nInstantsUserType[self.userTypes[t]] += 1 |
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1243 for userTypename in userTypeProbabilities: |
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1244 userTypeProbabilities[userTypename] *= nInstantsUserType[userTypename] |
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1245 # class is the user type that maximizes usertype probabilities |
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1246 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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1247 |
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1248 def classifyUserTypeArea(self, areas, homography): |
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1249 '''Classifies the object based on its location (projected to image space) |
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1250 areas is a dictionary of matrix of the size of the image space |
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1251 for different road users possible locations, indexed by road user type names |
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1252 |
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1253 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class) |
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1254 skip frames at beginning/end?''' |
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1255 print('not implemented/tested yet') |
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1256 if not hasattr(self, projectedPositions): |
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1257 if homography != None: |
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1258 self.projectedPositions = obj.positions.project(homography) |
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1259 else: |
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1260 self.projectedPositions = obj.positions |
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1261 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} |
522
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1262 for p in self.projectedPositions: |
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1263 for userTypename in areas: |
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1264 if areas[userTypename][p.x, p.y] != 0: |
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1265 possibleUserTypes[userType2Enum[userTypename]] += 1 |
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1266 # what to do: threshold for most common type? self.setUserType() |
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1267 return possibleUserTypes |
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1268 |
67
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1269 @staticmethod |
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1270 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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1271 'A positive result indicates that the road users are getting closer' |
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1272 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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1273 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
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1274 return Point.dot(deltap, deltav) |
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1275 |
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1276 @staticmethod |
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1277 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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1278 'A positive result indicates that the road users are getting closer' |
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1279 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
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1280 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
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1281 |
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1282 def plotRoadUsers(objects, colors): |
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1283 '''Colors is a PlottingPropertyValues instance''' |
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1284 from matplotlib.pyplot import figure, axis |
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1285 figure() |
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1286 for obj in objects: |
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1287 obj.plot(colors.get(obj.userType)) |
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1288 axis('equal') |
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1289 |
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1290 |
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1291 if __name__ == "__main__": |
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1292 import doctest |
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1293 import unittest |
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1294 suite = doctest.DocFileSuite('tests/moving.txt') |
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1295 #suite = doctest.DocTestSuite() |
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1296 unittest.TextTestRunner().run(suite) |
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1297 #doctest.testmod() |
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1298 #doctest.testfile("example.txt") |