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annotate python/moving.py @ 250:59f547aebaac

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modified prediction functions, added norm/angle representation of Points
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 23 Jul 2012 02:50:26 -0400
parents 99173da7afae
children 13ec22bec5d4
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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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7 from math import sqrt;
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8
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9 #from shapely.geometry import Polygon
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11 __metaclass__ = type
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12
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13 class Interval:
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14 '''Generic Interval'''
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15 def __init__(self, first=0, last=-1, revert = False):
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16 'Warning, do not revert if last<first, it contradicts the definition of empty'
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17 if revert and last<first:
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18 self.first=last
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19 self.last=first
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20 else:
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21 self.first=first
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22 self.last=last
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24 def __str__(self):
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25 return '[{0}, {1}]'.format(self.first, self.last)
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26
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27 def __repr__(self):
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28 return self.__str__()
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30 def empty(self):
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31 return self.first > self.last
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32
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33 def length(self):
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34 '''Returns the length of the interval'''
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35 return float(max(0,self.last-self.first))
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37 def equal(self, i2):
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38 return self.first==i2.first and self.last == i2.last
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39
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40 def getList(self):
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41 return [self.first, self.last]
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43 def contains(self, instant):
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44 return (self.first<=instant and self.last>=instant)
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46 def inside(self, interval2):
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47 'indicates if the temporal interval of self is comprised in interval2'
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48 return (self.first >= interval2.first) and (self.last <= interval2.last)
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49
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50 def union(self, interval2):
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51 '''Smallest interval comprising self and interval2'''
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52 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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53
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54 def intersection(self, interval2):
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55 '''Largest interval comprised in both self and interval2'''
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56 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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57
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58 def distance(self, interval2):
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59 if not self.intersection(interval2).empty():
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60 return 0
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61 elif self.first > interval2.last:
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62 return self.first - interval2.last
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63 elif self.last < interval2.first:
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64 return interval2.first - self.last
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65 else:
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66 return None
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68
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69 def unionIntervals(intervals):
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70 'returns the smallest interval containing all intervals'
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71 inter = intervals[0]
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72 for i in intervals[1:]:
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73 inter = inter.union(i)
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74 return inter
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75
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76
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77 class TimeInterval(Interval):
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78 '''Temporal interval based on frame numbers (hence the modified length method)
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79 may be modified directly by setting first and last'''
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80
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81 def __init__(self, first=0, last=-1):
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82 Interval.__init__(self, first, last, False)
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83
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84 def __getitem__(self, i):
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85 if not self.empty():
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86 return self.first+i
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87
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88 def __iter__(self):
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89 self.iterInstantNum = -1
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90 return self
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91
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92 def next(self):
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93 if self.iterInstantNum >= self.length()-1:
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94 raise StopIteration
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95 else:
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96 self.iterInstantNum += 1
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97 return self[self.iterInstantNum]
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98
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99 def length(self):
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100 '''Returns the length of the interval'''
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101 return float(max(0,self.last-self.first+1))
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102
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103 # class BoundingPolygon:
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104 # '''Class for a polygon bounding a set of points
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105 # with methods to create intersection, unions...
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106 # '''
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107 # We will use the polygon class of Shapely
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108
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109 class STObject:
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110 '''Class for spatio-temporal object
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111 i.e. with temporal and spatial existence
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112 (time interval and bounding polygon for positions (e.g. rectangle)).
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113 It does not mean that the object is defined
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114 for all time instants within the time interval'''
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115
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116 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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117 self.num = num
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118 self.timeInterval = timeInterval
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119 self.boundingPolygon = boundingPolygon
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120
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121 def empty(self):
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122 return self.timeInterval.empty() or not self.boudingPolygon
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123
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124 def getId(self):
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125 return self.num
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126
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127 def getFirstInstant(self):
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128 return self.timeInterval.first
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129
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130 def getLastInstant(self):
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131 return self.timeInterval.last
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132
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133 def getTimeInterval(self):
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134 return self.timeInterval
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135
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136 def existsAtInstant(self, t):
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137 return self.timeInterval.contains(t)
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138
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139 def commonTimeInterval(self, obj2):
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140 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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141
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142 class Point:
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143 def __init__(self, x, y):
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144 self.x = x
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145 self.y = y
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146
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147 def __str__(self):
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148 return '(%f,%f)'%(self.x,self.y)
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149
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150 def __repr__(self):
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151 return self.__str__()
25
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152
184
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153 def __add__(self, other):
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154 return Point(self.x+other.x, self.y+other.y)
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155
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156 def __sub__(self, other):
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157 return Point(self.x-other.x, self.y-other.y)
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158
105
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159 def multiply(self, alpha):
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160 return Point(self.x*alpha, self.y*alpha)
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161
211
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162 def draw(self, options = 'o', **kwargs):
41
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163 from matplotlib.pylab import plot
211
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164 plot([self.x], [self.y], options, **kwargs)
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165
38
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166 def norm2Squared(self):
43
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167 '''2-norm distance (Euclidean distance)'''
38
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168 return self.x*self.x+self.y*self.y
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169
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170 def norm2(self):
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171 '2-norm distance (Euclidean distance)'
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172 return sqrt(self.norm2Squared())
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173
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174 def aslist(self):
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175 return [self.x, self.y]
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176
203
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177 def astuple(self):
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178 return (self.x, self.y)
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179
223
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180 def asint(self):
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181 return Point(int(self.x), int(self.y))
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182
98
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183 def project(self, homography):
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184 from numpy.core.multiarray import array
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185 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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186 return Point(projected[0], projected[1])
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187
79
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188 def inPolygon(self, poly):
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189 '''Returns if the point x, y is inside the polygon.
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190 The polygon is defined by the ordered list of points in poly
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191
92
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diff changeset
192 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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193
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194 Use points_inside_poly from matplotlib.nxutils'''
79
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195
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196 n = len(poly);
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197 counter = 0;
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198
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199 p1 = poly[0];
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200 for i in range(n+1):
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201 p2 = poly[i % n];
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202 if self.y > min(p1.y,p2.y):
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203 if self.y <= max(p1.y,p2.y):
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diff changeset
204 if self.x <= max(p1.x,p2.x):
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diff changeset
205 if p1.y != p2.y:
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diff changeset
206 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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diff changeset
207 if p1.x == p2.x or self.x <= xinters:
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diff changeset
208 counter+=1;
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209 p1=p2
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210 return (counter%2 == 1);
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211
49
1fb5606506ae re-arrangement
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diff changeset
212 @staticmethod
67
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213 def dot(p1, p2):
89
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diff changeset
214 'Scalar product'
67
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diff changeset
215 return p1.x*p2.x+p1.y*p2.y
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diff changeset
216
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diff changeset
217 @staticmethod
90
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218 def cross(p1, p2):
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219 'Cross product'
89
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220 return p1.x*p2.y-p1.y*p2.x
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221
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diff changeset
222 @staticmethod
38
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223 def distanceNorm2(p1, p2):
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224 return (p1-p2).norm2()
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225
64
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diff changeset
226 @staticmethod
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227 def plotAll(points, color='r'):
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diff changeset
228 from matplotlib.pyplot import scatter
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229 scatter([p.x for p in points],[p.y for p in points], c=color)
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diff changeset
230
250
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diff changeset
231 class NormAngle:
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diff changeset
232 'alternate encoding of a point, by its norm and orientation'
245
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diff changeset
233
250
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diff changeset
234 def __init__(self, norm, angle):
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diff changeset
235 self.norm = norm
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diff changeset
236 self.angle = angle
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diff changeset
237
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diff changeset
238 @staticmethod
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diff changeset
239 def fromPoint(p):
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diff changeset
240 from math import atan2
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diff changeset
241 norm = p.norm2()
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diff changeset
242 if norm > 0:
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diff changeset
243 angle = atan2(p.x, p.y)
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diff changeset
244 return NormAngle(norm, angle)
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diff changeset
245
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diff changeset
246 def __add__(self, other):
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diff changeset
247 'a norm cannot become negative'
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diff changeset
248 return NormAngle(max(self.norm+other.norm, 0), self.orientation+other.orientation)
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diff changeset
249
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diff changeset
250 def getPoint(self):
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diff changeset
251 from math import cos, sin
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diff changeset
252 return Point(self.norm*cos(self.orientation), self.norm*sin(self.orientation))
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diff changeset
253
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diff changeset
254
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diff changeset
255 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
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parents: 244
diff changeset
256 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
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diff changeset
257 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
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diff changeset
258
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diff changeset
259 def predictPosition(position, speedOrientation, control, maxSpeed = None):
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diff changeset
260 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
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diff changeset
261 speedOrientation is the other encoding of velocity, (speed, orientation)
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diff changeset
262 speedOrientation and control are NormAngle'''
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diff changeset
263 predictedSpeedTheta = speedOrientation+control
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diff changeset
264 if maxSpeed:
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diff changeset
265 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
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diff changeset
266 predictedPosition = position+predictedSpeedTheta.getPoint()
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parents: 249
diff changeset
267 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
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parents: 244
diff changeset
268
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
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parents: 243
diff changeset
269
184
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parents: 182
diff changeset
270 class FlowVector:
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parents: 182
diff changeset
271 '''Class to represent 4-D flow vectors,
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diff changeset
272 ie a position and a velocity'''
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diff changeset
273 def __init__(self, position, velocity):
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diff changeset
274 'position and velocity should be Point instances'
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diff changeset
275 self.position = position
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diff changeset
276 self.velocity = velocity
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diff changeset
277
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diff changeset
278 def __add__(self, other):
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diff changeset
279 return FlowVector(self.position+other.position, self.velocity+other.velocity)
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parents: 182
diff changeset
280
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diff changeset
281 def multiply(self, alpha):
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diff changeset
282 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
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diff changeset
283
211
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diff changeset
284 def draw(self, options = '', **kwargs):
184
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diff changeset
285 from matplotlib.pylab import plot
211
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diff changeset
286 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
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diff changeset
287 self.position.draw(options+'x', **kwargs)
184
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diff changeset
288
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diff changeset
289 @staticmethod
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diff changeset
290 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
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diff changeset
291 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
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diff changeset
292
152
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diff changeset
293 def segmentIntersection(p1, p2, p3, p4):
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diff changeset
294 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
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diff changeset
295 from numpy import matrix
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diff changeset
296 from numpy.linalg import linalg, det
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diff changeset
297
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
298 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]]
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diff changeset
299 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]]
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diff changeset
300
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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diff changeset
301 A = matrix([[dp1.y, -dp1.x],
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diff changeset
302 [dp2.y, -dp2.x]])
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diff changeset
303 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
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diff changeset
304 [dp2.y*p3.x-dp2.x*p3.y]])
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parents: 148
diff changeset
305
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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diff changeset
306 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0:
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diff changeset
307 return None
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parents: 148
diff changeset
308 else:
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diff changeset
309 intersection = linalg.solve(A,B)
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diff changeset
310 if (utils.inBetween(p1.x, p2.x, intersection[0,0])
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diff changeset
311 and utils.inBetween(p3.x, p4.x, intersection[0,0])
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parents: 148
diff changeset
312 and utils.inBetween(p1.y, p2.y, intersection[1,0])
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parents: 148
diff changeset
313 and utils.inBetween(p3.y, p4.y, intersection[1,0])):
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diff changeset
314 return Point(intersection[0,0], intersection[1,0])
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diff changeset
315 else:
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diff changeset
316 return None
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317
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
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318 class Trajectory:
2
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parents: 0
diff changeset
319 '''Class for trajectories
22
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parents: 21
diff changeset
320 i.e. a temporal sequence of positions
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parents: 21
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321
169cd4679366 made Trajectory iterable
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parents: 21
diff changeset
322 the class is iterable.'''
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
323
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
324 def __init__(self, positions=None):
203
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parents: 185
diff changeset
325 if positions != None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents: 108
diff changeset
326 self.positions = positions
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parents: 108
diff changeset
327 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents: 108
diff changeset
328 self.positions = [[],[]]
43
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parents: 41
diff changeset
329
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
330 @staticmethod
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
331 def load(line1, line2):
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parents: 41
diff changeset
332 return Trajectory([[float(n) for n in line1.split(' ')],
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parents: 41
diff changeset
333 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
334
16
9d6831cfe675 added tools for speed
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parents: 14
diff changeset
335 def __str__(self):
39
e47168f6b694 corrected printing bug
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parents: 38
diff changeset
336 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
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parents: 14
diff changeset
337
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
338 def __repr__(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
339 return str(self)
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parents: 68
diff changeset
340
23
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parents: 22
diff changeset
341 def __getitem__(self, i):
25
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
342 return Point(self.positions[0][i], self.positions[1][i])
23
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parents: 22
diff changeset
343
22
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parents: 21
diff changeset
344 def __iter__(self):
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parents: 21
diff changeset
345 self.iterInstantNum = 0
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parents: 21
diff changeset
346 return self
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parents: 21
diff changeset
347
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parents: 21
diff changeset
348 def next(self):
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parents: 21
diff changeset
349 if self.iterInstantNum >= self.length():
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parents: 21
diff changeset
350 raise StopIteration
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parents: 21
diff changeset
351 else:
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parents: 21
diff changeset
352 self.iterInstantNum += 1
23
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parents: 22
diff changeset
353 return self[self.iterInstantNum-1]
22
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parents: 21
diff changeset
354
203
e2f31813ade6 added code to display trajectories on videa
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diff changeset
355 def length(self):
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diff changeset
356 return len(self.positions[0])
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diff changeset
357
71
45e958ccd9bd added new addPosition method to Trajectory
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parents: 69
diff changeset
358 def addPositionXY(self, x, y):
113
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parents: 108
diff changeset
359 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
360 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
361
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
362 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
363 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
364
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
365 @staticmethod
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
366 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, **kwargs):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
367 from matplotlib.pylab import plot
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
368 if lastCoordinate == None:
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
369 plot(positions[0], positions[1], options, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
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parents: 185
diff changeset
370 elif 0 <= lastCoordinate <= len(positions[0]):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
371 plot(positions[0][:lastCoordinate], positions[1][:lastCoordinate], options, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
372 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
373 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
374
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
375 def project(self, homography):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
376 from numpy.core.multiarray import array
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
377 projected = cvutils.projectArray(homography, array(self.positions))
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
378 return Trajectory(projected)
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parents: 185
diff changeset
379
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
380 def draw(self, options = '', withOrigin = False, **kwargs):
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
381 Trajectory._draw(self.positions, options, withOrigin,**kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
382
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
383 def drawAt(self, lastCoordinate, options = '', withOrigin = False, **kwargs):
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
384 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
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parents: 185
diff changeset
385
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
386 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
387 from matplotlib.pylab import plot
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
388 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
389 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]]
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
390 Trajectory._draw(imgPositions, options, withOrigin, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
391
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
392 def getXCoordinates(self):
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Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
393 return self.positions[0]
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
394
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
395 def getYCoordinates(self):
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Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
396 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
397
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
398 def asArray(self):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
399 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
400 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
401
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
402 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
403 # look for function that does min and max in one pass
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
404 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
405
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
406 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
407 # look for function that does min and max in one pass
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
408 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
409
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
410 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
411 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
412 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
413 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
414 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
415 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
416 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
417 [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
418
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
419 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
420 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
421 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
422 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
423 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
424 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
425 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
426 [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
427
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
428 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
429 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
430 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
431 # 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
432 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
433 from numpy import hypot
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
434 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
435
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
436 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
437 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
438 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
439 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
440 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
441 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
442
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
443 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
444 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
445
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
446 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
447 '''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
448 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
449 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
450 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
451
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
452 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
453 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
454 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
455 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
456 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
457 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
458 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
459 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
460 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
461 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
462 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
463 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
464 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
465
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
466 def getTrajectoryInInterval(self, inter):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
467 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
468 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
469 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
470 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
471 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
472
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
473 def getTrajectoryInPolygon(self, polygon):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
474 '''Returns the set of points inside the polygon
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
475 (array of Nx2 coordinates of the polygon vertices)'''
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
476 import matplotlib.nxutils as nx
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
477 traj = Trajectory()
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
478 result = nx.points_inside_poly(self.asArray().T, polygon)
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
479 for i in xrange(self.length()):
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
480 if result[i]:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
481 traj.addPositionXY(self.positions[0][i], self.positions[1][i])
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
482 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
483
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
484 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
Nicolas Saunier <nico@confins.net>
parents: 16
diff changeset
485
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
486 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
487 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
488 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
489
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
490 userTypeNames = ['car',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
491 'pedestrian',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
492 'twowheels',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
493 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
494 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
495
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
496 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
497
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
498 class MovingObject(STObject):
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
499 '''Class for moving objects
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
500 i.e. with a trajectory and a geometry (volume) (constant)
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
501 and a usertype (e.g. road user)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
502 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
503
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
504 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
505 STObject.__init__(self, num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
506 self.positions = positions
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
507 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
508 self.userType = userType
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
509 # compute bounding polygon from trajectory
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
510
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
511 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
512 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
513 restricted to time interval inter'''
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
514 intersection = inter.intersection(self.getTimeInterval())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
515 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
516 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
517 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
518 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
519 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
520 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
521 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
522 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
523 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
524
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
525 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
526 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
527
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
528 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
529 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
530
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
531 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
532 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
533
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
534 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
535 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
536
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
537 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
538 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
539
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
540 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
541 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
542
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
543 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
544 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
545
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
546 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
547 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
548
21
3c4629550f5f added basic getters for objects
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549 def getXCoordinates(self):
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550 return self.positions.getXCoordinates()
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parents: 19
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551
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parents: 19
diff changeset
552 def getYCoordinates(self):
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parents: 19
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553 return self.positions.getYCoordinates()
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parents: 19
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554
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
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555 def draw(self, options = '', withOrigin = False, **kwargs):
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parents: 203
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556 self.positions.draw(options, withOrigin, **kwargs)
182
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parents: 152
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557
214
9c7fc6899c0e corrected name typos in drawOnWorldImage
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parents: 213
diff changeset
558 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, **kwargs):
9c7fc6899c0e corrected name typos in drawOnWorldImage
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559 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
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560
248
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561 def play(self, videoFilename, homography = None):
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parents: 245
diff changeset
562 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant())
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parents: 245
diff changeset
563
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
564 def getInstantsCrossingLane(self, p1, p2):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
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parents: 54
diff changeset
565 '''Returns the instant(s)
88d5ee5ac164 updated comments and added shell for interaction between road users
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parents: 54
diff changeset
566 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
567 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
568 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
569 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
570
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
571 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
243
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parents: 223
diff changeset
572 '''Predicts the position of object at instant+deltaT,
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parents: 223
diff changeset
573 at constant speed'''
245
bd8ab323c198 corrected issue with predictPosiont static method
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parents: 244
diff changeset
574 return predictPosition(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
575
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
576 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
577 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
578 'A positive result indicates that the road users are getting closer'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
579 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
580 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
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parents: 115
diff changeset
581 return Point.dot(deltap, deltav)
67
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
582
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
583 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
584 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
585 '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
586 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
587 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
588 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
589
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
590 def plotRoadUsers(objects, colors):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
591 '''Colors is a PlottingPropertyValues instance'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
592 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
593 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
594 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
595 obj.draw(colors.get(obj.userType))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
596 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
597
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
598
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
599 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
600 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
601 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
602 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
603 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
604 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
605 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
606 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
607