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annotate python/moving.py @ 550:5668af2ff515

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minor naming
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 08 Jul 2014 16:33:45 -0400
parents b5525249eda1
children dc3739ac2371
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils
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5 import cvutils
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6
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7 from math import sqrt
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8 from numpy import median
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9
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10 try:
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11 from shapely.geometry import Polygon, Point as shapelyPoint
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12 from shapely.prepared import prep
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13 shapelyAvailable = True
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14 except ImportError:
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15 print('Shapely library could not be loaded')
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16 shapelyAvailable = False
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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)'''
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22 def __init__(self, first=0, last=-1, revert = False):
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23 if revert and last<first:
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24 self.first=last
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25 self.last=first
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26 else:
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27 self.first=first
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28 self.last=last
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30 def __str__(self):
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31 return '[{0}, {1}]'.format(self.first, self.last)
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32
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33 def __repr__(self):
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34 return self.__str__()
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35
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36 def empty(self):
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37 return self.first > self.last
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38
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39 def center(self):
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40 return (self.first+self.last)/2.
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41
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42 def length(self):
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43 '''Returns the length of the interval'''
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44 return float(max(0,self.last-self.first))
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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):
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66 '''Largest interval comprised in both self and interval2'''
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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68
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69 def distance(self, interval2):
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70 if not Interval.intersection(self, interval2).empty():
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71 return 0
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72 elif self.first > interval2.last:
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73 return self.first - interval2.last
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74 elif self.last < interval2.first:
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75 return interval2.first - self.last
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76 else:
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77 return None
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78
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79
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80 def unionIntervals(intervals):
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81 'returns the smallest interval containing all intervals'
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82 inter = intervals[0]
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83 for i in intervals[1:]:
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84 inter = Interval.union(inter, i)
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85 return inter
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86
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87
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88 class TimeInterval(Interval):
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included
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90
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91 For example: based on frame numbers (hence the modified length method)
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92 It may be modified directly by setting first and last'''
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93
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94 def __init__(self, first=0, last=-1):
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95 super(TimeInterval, self).__init__(first, last, False)
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96
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97 @staticmethod
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98 def fromInterval(inter):
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99 return TimeInterval(inter.first, inter.last)
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100
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101 def __getitem__(self, i):
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102 if not self.empty():
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103 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):
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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
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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):
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131 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
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132 (time interval and bounding polygon for positions (e.g. rectangle)).
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133
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134 It may not mean that the object is defined
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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
2
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139 self.timeInterval = timeInterval
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diff changeset
140 self.boundingPolygon = boundingPolygon
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141
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parents: 0
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142 def empty(self):
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143 return self.timeInterval.empty() or not self.boudingPolygon
2
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144
329
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145 def getNum(self):
211
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146 return self.num
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147
2
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148 def getFirstInstant(self):
40
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149 return self.timeInterval.first
2
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150
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151 def getLastInstant(self):
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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):
290
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161 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
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162
290
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diff changeset
163 class Point(object):
25
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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):
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172 return self.__str__()
25
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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
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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
515
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186 def plot(self, options = 'o', **kwargs):
41
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187 from matplotlib.pylab import plot
211
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diff changeset
188 plot([self.x], [self.y], options, **kwargs)
41
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189
38
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190 def norm2Squared(self):
43
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diff changeset
191 '''2-norm distance (Euclidean distance)'''
38
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192 return self.x*self.x+self.y*self.y
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193
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194 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
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diff changeset
195 '''2-norm distance (Euclidean distance)'''
38
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196 return sqrt(self.norm2Squared())
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197
284
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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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diff changeset
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
e2f31813ade6 added code to display trajectories on videa
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207 def astuple(self):
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208 return (self.x, self.y)
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209
223
c31722fcc9de minor modifications for integer drawing in OpenCV
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210 def asint(self):
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diff changeset
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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diff changeset
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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diff changeset
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
372
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diff changeset
222 def inPolygonNoShapely(self, polygon):
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diff changeset
223 '''Indicates if the point x, y is inside the polygon
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diff changeset
224 (array of Nx2 coordinates of the polygon vertices)
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225
92
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diff changeset
226 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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diff changeset
227
372
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diff changeset
228 Use Polygon.contains if Shapely is installed'''
79
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229
372
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diff changeset
230 n = polygon.shape[0];
79
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diff changeset
231 counter = 0;
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diff changeset
232
372
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diff changeset
233 p1 = polygon[0,:];
79
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diff changeset
234 for i in range(n+1):
372
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diff changeset
235 p2 = polygon[i % n,:];
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diff changeset
236 if self.y > min(p1[1],p2[1]):
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diff changeset
237 if self.y <= max(p1[1],p2[1]):
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diff changeset
238 if self.x <= max(p1[0],p2[0]):
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diff changeset
239 if p1[1] != p2[1]:
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parents: 369
diff changeset
240 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
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diff changeset
241 if p1[0] == p2[0] or self.x <= xinters:
79
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diff changeset
242 counter+=1;
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diff changeset
243 p1=p2
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diff changeset
244 return (counter%2 == 1);
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diff changeset
245
49
1fb5606506ae re-arrangement
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parents: 43
diff changeset
246 @staticmethod
67
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diff changeset
247 def dot(p1, p2):
89
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diff changeset
248 'Scalar product'
67
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diff changeset
249 return p1.x*p2.x+p1.y*p2.y
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diff changeset
250
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diff changeset
251 @staticmethod
90
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diff changeset
252 def cross(p1, p2):
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diff changeset
253 'Cross product'
89
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diff changeset
254 return p1.x*p2.y-p1.y*p2.x
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diff changeset
255
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diff changeset
256 @staticmethod
378
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diff changeset
257 def cosine(p1, p2):
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diff changeset
258 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
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diff changeset
259
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diff changeset
260 @staticmethod
38
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diff changeset
261 def distanceNorm2(p1, p2):
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diff changeset
262 return (p1-p2).norm2()
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diff changeset
263
64
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diff changeset
264 @staticmethod
357
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diff changeset
265 def plotAll(points, **kwargs):
64
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diff changeset
266 from matplotlib.pyplot import scatter
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
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parents: 345
diff changeset
267 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64
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diff changeset
268
378
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diff changeset
269 def similarOrientation(self, refDirection, cosineThreshold):
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diff changeset
270 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
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diff changeset
271 return Point.cosine(self, refDirection) >= cosineThreshold
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diff changeset
272
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
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parents: 451
diff changeset
273 @staticmethod
484
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parents: 464
diff changeset
274 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504
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diff changeset
275 '''Computes exact time to collision with a distance threshold
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diff changeset
276 The unknown of the equation is the time to reach the intersection
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parents: 501
diff changeset
277 between the relative trajectory of one road user
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parents: 501
diff changeset
278 and the circle of radius collisionThreshold around the other road user'''
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
279 from math import sqrt
504
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
280 dv = v1-v2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
281 dp = p1-p2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
282 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2
516
bce1fe45d1b2 corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
283 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
504
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parents: 501
diff changeset
284 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
285
504
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
286 delta = b**2 - 4*a*c
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diff changeset
287 if delta >= 0:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
288 deltaRoot = sqrt(delta)
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diff changeset
289 ttc1 = (-b + deltaRoot)/(2*a)
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diff changeset
290 ttc2 = (-b - deltaRoot)/(2*a)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
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parents: 451
diff changeset
291 if ttc1 >= 0 and ttc2 >= 0:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
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parents: 451
diff changeset
292 ttc = min(ttc1,ttc2)
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
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parents: 527
diff changeset
293 elif ttc1 >= 0:
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parents: 527
diff changeset
294 ttc = ttc1
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parents: 527
diff changeset
295 elif ttc2 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
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parents: 527
diff changeset
296 ttc = ttc2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
297 else: # ttc1 < 0 and ttc2 < 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
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parents: 527
diff changeset
298 ttc = None
464
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
299 else:
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diff changeset
300 ttc = None
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diff changeset
301 return ttc
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parents: 451
diff changeset
302
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
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parents: 451
diff changeset
303
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
304 if shapelyAvailable:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
305 def pointsInPolygon(points, polygon):
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parents: 369
diff changeset
306 '''Optimized tests of a series of points within (Shapely) polygon '''
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parents: 369
diff changeset
307 prepared_polygon = prep(polygon)
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parents: 369
diff changeset
308 return filter(prepared_polygon.contains, points)
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parents: 369
diff changeset
309
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
310
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
311 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
312 '''Alternate encoding of a point, by its norm and orientation'''
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
313
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
314 def __init__(self, norm, angle):
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diff changeset
315 self.norm = norm
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diff changeset
316 self.angle = angle
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
317
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
318 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
319 def fromPoint(p):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
320 from math import atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
321 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
322 if norm > 0:
259
8ab76b95ee72 added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 258
diff changeset
323 angle = atan2(p.y, p.x)
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
324 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
325 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
326 return NormAngle(norm, angle)
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parents: 249
diff changeset
327
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
328 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
329 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
330 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
331
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
332 def getPoint(self):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
333 from math import cos, sin
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
334 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
335
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
336
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
337 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
338 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
339 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
340
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
341 def predictPosition(position, speedOrientation, control, maxSpeed = None):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
342 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
343 speedOrientation is the other encoding of velocity, (speed, orientation)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
344 speedOrientation and control are NormAngle'''
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
345 predictedSpeedTheta = speedOrientation+control
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
346 if maxSpeed:
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
347 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
348 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
349 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
350
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
351
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
352 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
353 '''Class to represent 4-D flow vectors,
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
354 ie a position and a velocity'''
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
355 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
356 'position and velocity should be Point instances'
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
357 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
358 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
359
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
360 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
361 return FlowVector(self.position+other.position, self.velocity+other.velocity)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
362
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
363 def multiply(self, alpha):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
364 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
365
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
366 def plot(self, options = '', **kwargs):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
367 from matplotlib.pylab import plot
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
368 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
369 self.position.plot(options+'x', **kwargs)
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
370
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
371 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
372 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
373 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
374
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
375 def intersection(p1, p2, dp1, dp2):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
376 '''Returns the intersection point between the two lines
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
377 defined by the respective vectors (dp) and origin points (p)'''
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
378 from numpy import matrix
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
379 from numpy.linalg import linalg
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
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parents: 357
diff changeset
380 A = matrix([[dp1.y, -dp1.x],
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
381 [dp2.y, -dp2.x]])
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
382 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
383 [dp2.y*p2.x-dp2.x*p2.y]])
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
384
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
385 if linalg.det(A) == 0:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
386 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
387 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
388 intersection = linalg.solve(A,B)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
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parents: 357
diff changeset
389 return Point(intersection[0,0], intersection[1,0])
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parents: 357
diff changeset
390
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
391 def segmentIntersection(p1, p2, p3, p4):
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
392 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
393
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
394 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()):
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
395 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
396 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
397 dp1 = p2-p1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
398 dp3 = p4-p3
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
399 inter = intersection(p1, p3, dp1, dp3)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
400 if (inter != None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
401 and utils.inBetween(p1.x, p2.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
402 and utils.inBetween(p3.x, p4.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
403 and utils.inBetween(p1.y, p2.y, inter.y)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
404 and utils.inBetween(p3.y, p4.y, inter.y)):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
405 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
406 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
407 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
408
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
409 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
410
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
411 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
412 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
413
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
414 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
415
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
416 def __init__(self, positions=None):
331
40790d93200e corrected a bug for Trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
417 if positions != None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
418 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
419 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
420 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
421
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
422 @staticmethod
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
423 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
424 return Trajectory([[float(n) for n in line1.split(' ')],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
425 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
426
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
427 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
428 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
429 t = Trajectory()
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
430 for p in points:
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
431 t.addPosition(p)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
432 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
433
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
434 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
435 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
436
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
437 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
438 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
439
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
440 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
441 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
442 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
443 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
444 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
445 #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
446
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
447 def __str__(self):
39
e47168f6b694 corrected printing bug
Nicolas Saunier <nico@confins.net>
parents: 38
diff changeset
448 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
449
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
450 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
451 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
452
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
453
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
454 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
455 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
456 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
457
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
458 def next(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
459 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
460 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
461 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
462 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
463 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
464
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
465 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
466 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
467 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
468 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
469
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
470 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
471 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
472
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
473 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
474 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
475 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
476
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
477 def addPosition(self, p):
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
478 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
479
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
480 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
481 self.positions[0].append(self.positions[0][-1])
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
482 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
483
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
484 @staticmethod
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
485 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
486 from matplotlib.pylab import plot
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
487 if lastCoordinate == None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
488 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
489 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
490 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
491 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
492 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
493
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
494 def project(self, homography):
318
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
495 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
496
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
497 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
498 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
499
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
500 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
501 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
502
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
503 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
504 from matplotlib.pylab import plot
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
505 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
506 [-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
507 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
508
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
509 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
510 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
511
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
512 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
513 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
514
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
515 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
516 from numpy.core.multiarray import array
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
517 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
518
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
519 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
520 # 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
521 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
522
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
523 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
524 # 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
525 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
526
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
527 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
528 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
529 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
530 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
531 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
532 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
533 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
534 [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
535
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
536 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
537 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
538 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
539 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
540 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
541 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
542 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
543 [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
544
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
545 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
546 diff = Trajectory()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
547 for i in xrange(1, self.length()):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
548 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
549 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
550 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
551 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
552
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
553 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
554 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
555 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
556 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
557 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
558 from numpy import hypot
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
559 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
560
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
561 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
562 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
563 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
564 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
565 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
566 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
567
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
568 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
569 '''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
570 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
571 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
572 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
573 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
574 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
575 count += 1
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
576 if count > lengthThreshold:
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
577 return True
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
578 return False
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
579
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
580 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
581 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
582
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
583 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
584 '''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
585 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
586 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
587 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
588
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
589 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
590 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
591 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
592 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
593 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
594 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
595 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
596 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
597 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
598 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
599 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
600 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
601 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
602
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
603 def getTrajectoryInInterval(self, inter):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
604 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
605 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
606 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
607 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
608 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
609
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
610 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
611 '''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
612 (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
613 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
614 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
615 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
616 traj.addPosition(p)
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
617 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
618
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
619 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
620 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
621 '''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
622 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
623 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
624 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
625 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
626 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
627
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
628 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
629 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
630 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
631
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
632 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
633 '''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
634 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
635 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
636
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
637 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
638 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
639 self.positions = [[],[]]
543
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
640 if len(S) != len(Y):
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
641 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
642 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
643 self.positions = [S,Y]
543
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
644 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
645 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
646 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
647 self.lanes = lanes
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
648
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
649 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
650 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
651 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
652 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
653 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
654 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
655
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
656 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
657 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
658
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
659 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
660 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
661
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
662 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
663 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
664 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
665
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
666 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
667 '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
668 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
669
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
670 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
671 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
672 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
673 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
674
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
675 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
676 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
677 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
678 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
679 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
680 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
681 p1=p2
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
682 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
683 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
684 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
685
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
686 def getIntersections(self, S1, lane = None):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
687 '''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
688 goes past the curvilinear coordinate S1
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
689 (in provided lane if lane != None)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
690 the list is empty if there is no crossing'''
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
691 indices = []
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
692 for i in xrange(self.length()-1):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
693 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
694 q2=self.__getitem__(i+1)
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
695 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
696 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
697 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
698
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
699 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
700 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
701 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
702
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
703 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
704 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
705 '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
706 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
707 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
708 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
709 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
710
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
711 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
712
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
713 class MovingObject(STObject):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
714 '''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
715 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
716 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
717
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 383
diff changeset
718 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
719 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
720 self.positions = positions
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
721 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
722 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
723 self.userType = userType
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
724 self.features = []
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
725 # 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
726
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
727 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
728 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
729 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
730 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
731 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
732 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
733 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
734 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
735 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
736 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
737 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
738 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
739 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
740
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
741 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
742 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
743
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
744 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
745 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
746
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
747 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
748 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
749
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
750 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
751 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
752
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
753 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
754 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
755 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
756 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
757 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
758
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
759 def setUserType(self, userType):
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
760 self.userType = userType
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
761
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
762 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
763 self.features = [features[i] for i in self.featureNumbers]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
764
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
765 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
766 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
767
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
768 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
769 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
770
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
771 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
772 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
773
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
774 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
775 return self.positions[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
776
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
777 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
778 return self.velocities[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
779
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
780 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
781 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
782
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
783 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
784 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
785
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
786 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
787 if withFeatures:
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
788 for f in self.features:
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
789 f.positions.plot('r', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
790 self.positions.plot('bx-', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
791 else:
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
792 self.positions.plot(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
793
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
794 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
795 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
796
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
797 def play(self, videoFilename, homography = None):
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
798 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant())
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
799
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
800 def speedDiagnostics(self, framerate = 1., display = False):
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
801 from numpy import std
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
802 from scipy.stats import scoreatpercentile
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
803 speeds = framerate*self.getSpeeds()
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
804 coef = utils.linearRegression(range(len(speeds)), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
805 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0]))
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
806 if display:
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
807 from matplotlib.pyplot import figure, plot, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
808 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
809 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
810 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
811 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
812 plot(list(self.getTimeInterval()), speeds)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
813
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
814 @staticmethod
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
815 def distances(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
816 from scipy.spatial.distance import cdist
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
817 positions1 = [f.getPositionAtInstant(instant).astuple() for f in obj1.features if f.existsAtInstant(instant)]
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
818 positions2 = [f.getPositionAtInstant(instant).astuple() for f in obj2.features if f.existsAtInstant(instant)]
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
819 return cdist(positions1, positions2, metric = 'euclidean')
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
820
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
821 @staticmethod
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
822 def minDistance(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
823 return MovingObject.distances(obj1, obj2, instant).min()
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
824
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
825 @staticmethod
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
826 def distances2(obj1, obj2, instant1,instant2):
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
827 from scipy.spatial.distance import cdist
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
828 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
829 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
830 return cdist(positions1, positions2, metric = 'euclidean')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
831
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
832 @staticmethod
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
833 def minDistance2(obj1, obj2, instant1,instant2):
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
834 return MovingObject.distances2(obj1, obj2, instant1,instant2).min()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
835
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
836 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
837 def maxDistance(obj1, obj2, instant):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
838 return MovingObject.distances(obj1, obj2, instant).max()
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
839
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
840 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
841 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
842 at instant there are the most features'''
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
843 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
844 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
845 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
846 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
847 n = len([f for f in self.features if f.existsAtInstant(t)])
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
848 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
849 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
850 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
851 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
852 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
853 print('Load features to compute a maximum size')
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
854 return None
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
855
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
856 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
857 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
858 self.endRouteID = endRouteID
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
859
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
860 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
861 '''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
862 at which the object passes from one side of the segment to the other
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
863 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
864 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
865 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
866
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
867 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
868 '''Predicts the position of object at instant+deltaT,
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
869 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
870 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
871
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
872 ###
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
873 # User Type Classification
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
874 ###
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 523
diff changeset
875 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, ignoreNInstantsAtEnds = 0):
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
876 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
877 slow: non-motorized -> pedestrians
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
878 fast: motorized -> cars'''
501
c81cbd6953fb update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
879 if ignoreNInstantsAtEnds > 0:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
880 speeds = self.getSpeeds()[ignoreNInstantsAtEnds:-ignoreNInstantsAtEnds]
501
c81cbd6953fb update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
881 else:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
882 speeds = self.getSpeeds()
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
883 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
884 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
885 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
886 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
887
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 523
diff changeset
888 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
889 '''Classifies road user per road user type
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
890 speedProbabilities are functions return P(speed|class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
891 in a dictionary indexed by user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
892 Returns probabilities for each class
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
893
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
894 for simple threshold classification, simply pass non-overlapping indicator functions (membership)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
895 e.g. def indic(x):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
896 if abs(x-mu) < sigma:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
897 return 1
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
898 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
899 return x'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
900 if not hasattr(self, aggregatedSpeed):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
901 self.aggregatedSpeed = aggregationFunc(self.getSpeeds())
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
902 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
903 self.setUserType(utils.argmaxDict(userTypeProbabilities))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
904 return userTypeProbabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
905
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
906 def initClassifyUserTypeHoGSVM(self, aggregationFunc = median):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
907 '''Initializes the data structures for classification
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
908
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
909 TODO? compute speed for longest feature?
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
910 Skip beginning and end of feature for speed? Offer options instead of median'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
911 self.aggregatedSpeed = aggregationFunc(self.getSpeeds())
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
912 self.userTypes = {}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
913
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
914 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):
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
915 '''Extract the image box around the object and
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
916 applies the SVM model on it'''
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
917 from numpy import array
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
918 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, self, instant, homography, width, height, px, py, pixelThreshold)
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
919 if len(croppedImg) > 0: # != []
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
920 hog = array([cvutils.HOG(croppedImg)], dtype = np.float32)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
921 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM == None:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
922 self.userTypes[instant] = int(pedBikeCarSVM.predict(hog))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
923 elif self.aggregatedSpeed < bikeCarSpeedTreshold:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
924 self.userTypes[instant] = int(bikeCarSVM.predict(hog))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
925 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
926 self.userTypes[instant] = userType2Num['car']
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
927 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
928 self.userTypes[instant] = userType2Num['unknown']
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
929
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 523
diff changeset
930 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):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
931 '''Agregates SVM detections in each image and returns probability
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
932 (proportion of instants with classification in each category)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
933
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
934 iamges is a dictionary of images indexed by instant
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
935 With default parameters, the general (ped-bike-car) classifier will be used
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
936 TODO? consider all categories?'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
937 if not hasattr(self, aggregatedSpeed) or not hasattr(self, userTypes):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
938 print('Initilize the data structures for classification by HoG-SVM')
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
939 self.initClassifyUserTypeHoGSVM(aggregationFunc)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
940
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
941 if len(self.userTypes) != self.length(): # if classification has not been done previously
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
942 for t in self.getTimeInterval():
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
943 if t not in self.userTypes:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
944 self.classifyUserTypeHoGSVMAtInstant(images[t], pedBikeCarSVM, t, homography, width, height, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, px, py, pixelThreshold)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
945 # compute P(Speed|Class)
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 523
diff changeset
946 if speedProbabilities == None: # equiprobable information from speed
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
947 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.}
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
948 else:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
949 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
950 # result is P(Class|Appearance) x P(Speed|Class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
951 nInstantsUserType = {userType2Num[userTypename]: 0 for userTypename in userTypeProbabilities}# number of instants the object is classified as userTypename
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
952 for t in self.userTypes:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
953 nInstantsUserType[self.userTypes[t]] += 1
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
954 for userTypename in userTypeProbabilities:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
955 userTypeProbabilities[userTypename] *= nInstantsUserType[userTypename]
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
956 # class is the user type that maximizes usertype probabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
957 self.setUserType(utils.argmaxDict(userTypeProbabilities))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
958
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
959 def classifyUserTypeArea(self, areas, homography):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
960 '''Classifies the object based on its location (projected to image space)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
961 areas is a dictionary of matrix of the size of the image space
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
962 for different road users possible locations, indexed by road user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
963
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
964 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
965 skip frames at beginning/end?'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
966 print('not implemented/tested yet')
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
967 if not hasattr(self, projectedPositions):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
968 if homography != None:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
969 self.projectedPositions = obj.positions.project(homography)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
970 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
971 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
972 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))}
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
973 for p in self.projectedPositions:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
974 for userTypename in areas:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
975 if areas[userTypename][p.x, p.y] != 0:
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
976 possibleUserTypes[userType2Enum[userTypename]] += 1
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
977 # what to do: threshold for most common type? self.setUserType()
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
978 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
979
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
980
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
981 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
982 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
983 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
984 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
985 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
986 return Point.dot(deltap, deltav)
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
987
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
988 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
989 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
990 'A positive result indicates that the road users are getting closer'
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
991 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
992 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
993
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
994 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
995 '''Colors is a PlottingPropertyValues instance'''
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
996 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
997 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
998 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
999 obj.plot(colors.get(obj.userType))
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1000 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1001
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1002
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1003 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1004 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1005 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1006 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1007 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1008 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1009 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1010 #doctest.testfile("example.txt")