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annotate trafficintelligence/moving.py @ 1110:6bbcd9433732

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formatting and addition of one method to CurvilinearTrajectory
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 06 May 2019 16:16:28 -0400
parents 6e8ab471ebd4
children 345cd9cd62d8
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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 copy
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5 from math import sqrt, atan2, cos, sin
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7 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, ceil, float32, argwhere, minimum
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8 from matplotlib.pyplot import plot, text
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9 from scipy.stats import scoreatpercentile
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10 from scipy.spatial.distance import cdist
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11 from scipy.signal import savgol_filter
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12
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13 try:
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14 from shapely.geometry import Polygon, Point as shapelyPoint
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15 from shapely.prepared import prep, PreparedGeometry
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16 shapelyAvailable = True
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17 except ImportError:
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18 print('Shapely library could not be loaded')
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19 shapelyAvailable = False
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20
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21 from trafficintelligence import utils, cvutils
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22 from trafficintelligence.base import VideoFilenameAddable
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25 class Interval(object):
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26 '''Generic interval: a subset of real numbers (not iterable)'''
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27 def __init__(self, first=0, last=-1, revert = False):
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28 if revert and last<first:
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29 self.first=last
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30 self.last=first
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31 else:
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32 self.first=first
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33 self.last=last
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34
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35 def __str__(self):
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36 return '{0}-{1}'.format(self.first, self.last)
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37
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38 def __repr__(self):
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39 return self.__str__()
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40
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41 def __eq__(self, other):
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42 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first))
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43
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44 def empty(self):
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45 return self.first > self.last
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46
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47 def center(self):
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48 return (self.first+self.last)/2.
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49
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50 def length(self):
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51 '''Returns the length of the interval'''
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52 return float(max(0,self.last-self.first))
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54 def equal(self, i2):
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55 return self.first==i2.first and self.last == i2.last
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56
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57 def getList(self):
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58 return [self.first, self.last]
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59
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60 def contains(self, instant):
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61 return (self.first<=instant and self.last>=instant)
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62
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63 def inside(self, interval2):
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64 '''Indicates if the temporal interval of self is comprised in interval2'''
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65 return (self.first >= interval2.first) and (self.last <= interval2.last)
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66
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67 def shift(self, offset):
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68 self.first += offset
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69 self.last += offset
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70
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71 @classmethod
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72 def parse(cls, s):
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73 if '-' in s:
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74 tmp = s.split('-')
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75 if len(tmp) == 2:
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76 return cls(int(tmp[0]), int(tmp[1])) # TODO with floats?
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77 print(s+' is not a valid representation of an interval')
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78 return None
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79
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80 @classmethod
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81 def union(cls, interval1, interval2):
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82 '''Smallest interval comprising self and interval2'''
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83 return cls(min(interval1.first, interval2.first), max(interval1.last, interval2.last))
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84
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85 @classmethod
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86 def intersection(cls, interval1, interval2):
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87 '''Largest interval comprised in both self and interval2'''
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88 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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89
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90 def distance(self, interval2):
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91 if not Interval.intersection(self, interval2).empty():
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92 return 0
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93 elif self.first > interval2.last:
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94 return self.first - interval2.last
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95 elif self.last < interval2.first:
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96 return interval2.first - self.last
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97 else:
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98 return None
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99
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100 @classmethod
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101 def unionIntervals(cls, intervals):
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102 'returns the smallest interval containing all intervals'
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103 inter = cls(intervals[0].first, intervals[0].last)
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104 for i in intervals[1:]:
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105 inter = cls.union(inter, i)
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106 return inter
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107
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108
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109 class TimeInterval(Interval):
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110 '''Temporal interval: set of instants at fixed time step, between first and last, included
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111
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112 For example: based on frame numbers (hence the modified length method)
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113 It may be modified directly by setting first and last
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114 It also (mostly) works with datetime.datetime'''
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115
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116 def __init__(self, first=0, last=-1, revert = False):
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117 super(TimeInterval, self).__init__(first, last, revert)
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118
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119 @staticmethod
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120 def fromInterval(inter):
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121 return TimeInterval(inter.first, inter.last)
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122
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123 def __getitem__(self, i):
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124 if not self.empty():
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125 if isinstance(i, int):
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126 return self.first+i
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127 else:
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128 raise TypeError("Invalid argument type.")
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129 #elif isinstance( key, slice ):
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130
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131 def __iter__(self):
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132 self.iterInstantNum = -1
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133 return self
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134
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
135 def __next__(self):
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
136 if self.iterInstantNum >= self.length()-1:
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
137 raise StopIteration
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
138 else:
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
139 self.iterInstantNum += 1
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
140 return self[self.iterInstantNum]
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
141
26
54d9cb0c902b generalized intervals
Nicolas Saunier <nico@confins.net>
parents: 25
diff changeset
142 def length(self):
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
143 '''Returns the length of the interval'''
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
144 return float(max(0,self.last-self.first+1))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
145
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
146 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
147 return self.length()
f2b52355a286 made length a STObject method
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parents: 685
diff changeset
148
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
149 # class BoundingPolygon:
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parents: 6
diff changeset
150 # '''Class for a polygon bounding a set of points
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
151 # with methods to create intersection, unions...
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
152 # '''
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parents: 6
diff changeset
153 # We will use the polygon class of Shapely
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parents: 6
diff changeset
154
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
155 class STObject(object):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
156 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
157 (time interval and bounding polygon for positions (e.g. rectangle)).
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
158
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
159 It may not mean that the object is defined
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
160 for all time instants within the time interval'''
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
161
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
162 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
163 self.num = num
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
164 self.timeInterval = timeInterval
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
165 self.boundingPolygon = boundingPolygon
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
166
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
167 def empty(self):
688
f2b52355a286 made length a STObject method
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parents: 685
diff changeset
168 return self.timeInterval.empty()# or not self.boudingPolygon
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
169
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
170 def getNum(self):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
171 return self.num
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
172
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
173 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
174 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
175
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
176 def length(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
177 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
178
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
179 def getFirstInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
180 return self.timeInterval.first
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
181
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
182 def getLastInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
183 return self.timeInterval.last
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
184
1001
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
185 def setFirstInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
186 if t <= self.timeInterval.last:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
187 self.timeInterval.first = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
188 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
189 print('new first instant is after last, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
190
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
191 def setLastInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
192 if t >= self.timeInterval.first:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
193 self.timeInterval.last = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
194 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
195 print('new last instant is before first, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
196
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
197 def getTimeInterval(self):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
198 return self.timeInterval
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
199
108
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
200 def existsAtInstant(self, t):
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
201 return self.timeInterval.contains(t)
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
202
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
203 def commonTimeInterval(self, obj2):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
204 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
205
785
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
206 def shiftTimeInterval(self, offset):
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
207 self.timeInterval.shift(offset)
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
208
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
209 class Point(object):
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
210 def __init__(self, x, y):
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
211 self.x = x
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
212 self.y = y
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
213
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
214 def __str__(self):
675
ab3fdff42624 corrected old format for Point.__str__
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 674
diff changeset
215 return '({:f},{:f})'.format(self.x,self.y)
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
216
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
217 def __repr__(self):
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
218 return self.__str__()
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
219
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
220 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
221 return (self.x == other.x) and (self.y == other.y)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
222
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
223 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
224 return Point(self.x+other.x, self.y+other.y)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
225
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
226 def __sub__(self, other):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
227 return Point(self.x-other.x, self.y-other.y)
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
228
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
229 def __neg__(self):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
230 return Point(-self.x, -self.y)
575
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
231
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
232 def __mul__(self, alpha):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
233 'Warning, returns a new Point'
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
234 return Point(self.x*alpha, self.y*alpha)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
235
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
236 def divide(self, alpha):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
237 'Warning, returns a new Point'
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
238 return Point(self.x/alpha, self.y/alpha)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
239
575
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
240 def __getitem__(self, i):
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
241 if i == 0:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
242 return self.x
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
243 elif i == 1:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
244 return self.y
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
245 else:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
246 raise IndexError()
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
247
690
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
248 def orthogonal(self, clockwise = True):
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
249 'Returns the orthogonal vector'
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
250 if clockwise:
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
251 return Point(self.y, -self.x)
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
252 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
253 return Point(-self.y, self.x)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
254
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
255 def normalize(self):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
256 return self.divide(self.norm2())
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
257
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
258 def projectLocal(self, v, clockwise = True):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
259 'Projects point projected on v, v.orthogonal()'
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
260 e1 = v.normalize()
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
261 e2 = e1.orthogonal(clockwise)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
262 return Point(Point.dot(self, e1), Point.dot(self, e2))
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
263
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
264 def rotate(self, theta):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
265 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta))
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
266
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
267 def plot(self, options = 'o', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
268 plot([self.x], [self.y], options, **kwargs)
41
eb78c6edc0c8 added drawing for Point
Nicolas Saunier <nico@confins.net>
parents: 40
diff changeset
269
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
270 @staticmethod
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
271 def plotSegment(p1, p2, options = 'o', **kwargs):
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
272 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs)
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
273
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
274 def angle(self):
05d4302bf67e working motion pattern prediction with rotation and features
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parents: 943
diff changeset
275 return atan2(self.y, self.x)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
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parents: 1109
diff changeset
276
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
277 def norm2Squared(self):
43
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
278 '''2-norm distance (Euclidean distance)'''
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
279 return self.x**2+self.y**2
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
280
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
281 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
282 '''2-norm distance (Euclidean distance)'''
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
283 return sqrt(self.norm2Squared())
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
284
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
285 def norm1(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
286 return abs(self.x)+abs(self.y)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
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parents: 1109
diff changeset
287
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
288 def normMax(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
289 return max(abs(self.x),abs(self.y))
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
290
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
291 def aslist(self):
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
292 return [self.x, self.y]
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
293
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
294 def astuple(self):
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
295 return (self.x, self.y)
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
296
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
297 def asint(self):
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
298 return Point(int(self.x), int(self.y))
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
299
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
300 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
301 def asShapely(self):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
302 return shapelyPoint(self.x, self.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
303
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
304 def homographyProject(self, homography):
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
305 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography)
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
306 return Point(projected[0], projected[1])
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
307
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
308 def inPolygon(self, polygon):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
309 '''Indicates if the point x, y is inside the polygon
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
310 (array of Nx2 coordinates of the polygon vertices)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
311
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
312 taken from http://www.ariel.com.au/a/python-point-int-poly.html
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
313
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
314 Use Polygon.contains if Shapely is installed'''
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
315
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
316 n = polygon.shape[0];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
317 counter = 0;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
318
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
319 p1 = polygon[0,:];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
320 for i in range(n+1):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
321 p2 = polygon[i % n,:];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
322 if self.y > min(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
323 if self.y <= max(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
324 if self.x <= max(p1[0],p2[0]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
325 if p1[1] != p2[1]:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
326 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
327 if p1[0] == p2[0] or self.x <= xinters:
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
328 counter+=1;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
329 p1=p2
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
330 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
331
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
332 @staticmethod
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
333 def fromList(p):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
334 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
335
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
336 @staticmethod
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
337 def dot(p1, p2):
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
338 'Scalar product'
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
339 return p1.x*p2.x+p1.y*p2.y
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
340
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
341 @staticmethod
90
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
342 def cross(p1, p2):
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
343 'Cross product'
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
344 return p1.x*p2.y-p1.y*p2.x
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
345
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
346 @staticmethod
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
347 def parallel(p1, p2):
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
348 return Point.cross(p1, p2) == 0.
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
349
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
350 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
351 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
352 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
353
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
354 @staticmethod
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
355 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
356 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
357
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
358 @staticmethod
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
359 def plotAll(points, options = '', **kwargs):
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
360 plot([p.x for p in points], [p.y for p in points], options, **kwargs)
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
361
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
362 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
363 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
364 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
365
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
366 @staticmethod
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
367 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
368 '''Computes exact time to collision with a distance threshold
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
369 The unknown of the equation is the time to reach the intersection
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
370 between the relative trajectory of one road user
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
371 and the circle of radius collisionThreshold around the other road user'''
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
372 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
373 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
374 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
375 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
376 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
377
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
378 delta = b**2 - 4*a*c
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
379 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
380 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
381 ttc1 = (-b + deltaRoot)/(2*a)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
382 ttc2 = (-b - deltaRoot)/(2*a)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
383 if ttc1 >= 0 and ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
384 return min(ttc1,ttc2)
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
385 elif ttc1 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
386 return ttc1
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
387 elif ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
388 return ttc2
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
389 else: # ttc1 < 0 and ttc2 < 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
390 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
391 else:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
392 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
393
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
394 @staticmethod
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
395 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
396 'Returns the middle of the segment [p1, p2]'
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
397 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
398
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
399 @staticmethod
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
400 def agg(points, aggFunc = mean):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
401 return Point(aggFunc([p.x for p in points]), aggFunc([p.y for p in points]))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
402
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
403 @staticmethod
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
404 def boundingRectangle(points, v):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
405 '''Returns the bounding rectangle of the points, aligned on the vector v
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
406 A list of points is returned: front left, front right, rear right, rear left'''
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
407 e1 = v.normalize()
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
408 e2 = e1.orthogonal()
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
409 xCoords = []
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
410 yCoords = []
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
411 for p in points:
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
412 xCoords.append(Point.dot(e1, p))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
413 yCoords.append(Point.dot(e2, p))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
414 xmin = min(xCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
415 xmax = max(xCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
416 ymin = min(yCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
417 ymax = max(yCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
418 frontLeft = Point(xmax, ymin)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
419 frontRight = Point(xmax, ymax)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
420 rearLeft = Point(xmin, ymin)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
421 rearRight = Point(xmin, ymax)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
422 return [Point(Point.dot(e1, p), Point.dot(e2, p)) for p in [frontLeft, frontRight, rearRight, rearLeft]]
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
423
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
424 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
425 def pointsInPolygon(points, polygon):
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
426 '''Optimized tests of a series of points within (Shapely) polygon (not prepared)'''
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
427 if type(polygon) == PreparedGeometry:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
428 prepared_polygon = polygon
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
429 else:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
430 prepared_polygon = prep(polygon)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
431 return list(filter(prepared_polygon.contains, points))
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
432
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
433 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
434 # From Paul St-Aubin's PVA tools
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
435 def prepareAlignments(alignments):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
436 '''Prepares alignments (list of splines, each typically represented as a Trajectory)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
437 - computes cumulative distances
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
438 - approximates slope singularity by giving some slope roundoff (account for roundoff error)'''
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
439 for alignment in alignments:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
440 alignment.computeCumulativeDistances()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
441 p1 = alignment[0]
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
442 for i in range(len(alignment)-1):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
443 p2 = alignment[i+1]
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
444 if(round(p1.x, 10) == round(p2.x, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
445 p2.x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
446 if(round(p1.y, 10) == round(p2.y, 10)):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
447 p2.y += 0.0000000001
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
448 p1 = p2
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
449
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
450 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
451 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
452 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
453 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
454 if(p0x == p1x and p0y == p1y):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
455 return None
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
456 try:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
457 #Approximate slope singularity by giving some slope roundoff; account for roundoff error
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
458 # if(round(p0x, 10) == round(p1x, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
459 # p1x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
460 # if(round(p0y, 10) == round(p1y, 10)):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
461 # p1y += 0.0000000001
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
462 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
463 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
464 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
465 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
466 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
467 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
468 import pdb;
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
469 pdb.set_trace()
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
470 return Point(X, Y)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
471
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
472 def getSYfromXY(p, alignments, goodEnoughAlignmentDistance = 0.5):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
473 ''' Snap a point p to its nearest subsegment of it's nearest alignment (from the list alignments).
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
474 A alignment is a list of points (class Point), most likely a trajectory.
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
475
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
476 Output:
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
477 =======
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
478 [alignment index,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
479 subsegment leading point index,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
480 snapped point,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
481 subsegment distance,
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
482 alignment distance,
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
483 orthogonal point offset]
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
484
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
485 or None
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
486 '''
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
487 minOffsetY = float('inf')
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
488 #For each alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
489 for alignmentIdx in range(len(alignments)):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
490 #For each alignment point index
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
491 for alignment_p in range(len(alignments[alignmentIdx])-1):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
492 #Get closest point on alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
493 closestPoint = ppldb2p(p.x,p.y,alignments[alignmentIdx][alignment_p][0],alignments[alignmentIdx][alignment_p][1],alignments[alignmentIdx][alignment_p+1][0],alignments[alignmentIdx][alignment_p+1][1])
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
494 if closestPoint is None:
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
495 print('Error: Alignment {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(alignmentIdx, alignment_p))
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
496 return None
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
497 # check if the projected point is in between the current segment of the alignment bounds
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
498 if utils.inBetween(alignments[alignmentIdx][alignment_p][0], alignments[alignmentIdx][alignment_p+1][0], closestPoint.x) and utils.inBetween(alignments[alignmentIdx][alignment_p][1], alignments[alignmentIdx][alignment_p+1][1], closestPoint.y):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
499 offsetY = Point.distanceNorm2(closestPoint, p)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
500 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
501 minOffsetY = offsetY
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
502 snappedAlignmentIdx = alignmentIdx
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
503 snappedAlignmentLeadingPoint = alignment_p
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
504 snappedPoint = Point(closestPoint.x, closestPoint.y)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
505 #Jump loop if significantly close
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
506 if offsetY < goodEnoughAlignmentDistance:
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
507 break
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
508
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
509 #Get sub-segment distance
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
510 if minOffsetY != float('inf'):
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
511 subsegmentDistance = Point.distanceNorm2(snappedPoint, alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint])
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
512 #Get cumulative alignment distance (total segment distance)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
513 alignmentDistanceS = alignments[snappedAlignmentIdx].getCumulativeDistance(snappedAlignmentLeadingPoint) + subsegmentDistance
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
514 orthogonalAlignmentVector = (alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint+1]-alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint]).orthogonal()
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
515 offsetVector = p-snappedPoint
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
516 if Point.dot(orthogonalAlignmentVector, offsetVector) < 0:
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
517 minOffsetY = -minOffsetY
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
518 return [snappedAlignmentIdx, snappedAlignmentLeadingPoint, snappedPoint, subsegmentDistance, alignmentDistanceS, minOffsetY]
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
519 else:
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
520 print('Offset for point {} is infinite (check with prepareAlignments if some alignment segments are aligned with axes)'.format(p))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
521 return None
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
522
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
523 def getXYfromSY(s, y, alignmentNum, alignments):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
524 ''' Find X,Y coordinate from S,Y data.
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
525 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
526 if mode !=0 : return Real X,Y
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
527 '''
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
528 alignment = alignments[alignmentNum]
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
529 i = 1
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
530 while s > alignment.getCumulativeDistance(i) and i < len(alignment):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
531 i += 1
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
532 if i < len(alignment):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
533 d = s - alignment.getCumulativeDistance(i-1) # distance on subsegment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
534 #Get difference vector and then snap
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
535 dv = alignment[i] - alignment[i-1]
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
536 normalizedV = dv.normalize()
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
537 #snapped = alignment[i-1] + normalizedV*d # snapped point coordinate along alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
538 # add offset finally
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
539 orthoNormalizedV = normalizedV.orthogonal()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
540 return alignment[i-1] + normalizedV*d + orthoNormalizedV*y
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
541 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
542 print('Curvilinear point {} is past the end of the alignement'.format((s, y, alignmentNum)))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
543 return None
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
544
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
545
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
546 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
547 '''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
548
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
549 def __init__(self, norm, angle):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
550 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
551 self.angle = angle
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
552
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
553 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
554 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
555 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
556 if norm > 0:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
557 angle = p.angle()
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
558 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
559 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
560 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
561
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
562 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
563 '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
564 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
565
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
566 def getPoint(self):
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
567 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
568
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
569
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
570 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
571 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
572 return initialVelocity + initialAcceleration.__mul__(nTimeSteps),initialPosition+initialVelocity.__mul__(nTimeSteps) + initialAcceleration.__mul__(nTimeSteps**2*0.5)
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
573
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
574 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
575 '''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
576 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
577 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
578 predictedSpeedTheta = speedOrientation+control
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
579 if maxSpeed is not None:
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
580 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
581 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
582 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
583
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
584
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
585 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
586 '''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
587 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
588 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
589 '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
590 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
591 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
592
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
593 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
594 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
595
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
596 def __mul__(self, alpha):
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
597 return FlowVector(self.position.__mul__(alpha), self.velocity.__mul__(alpha))
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
598
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
599 def plot(self, options = '', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
600 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
601 self.position.plot(options+'x', **kwargs)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
602
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
603 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
604 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
605 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
606
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
607 def intersection(p1, p2, p3, p4):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
608 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
609 http://paulbourke.net/geometry/pointlineplane/'''
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
610 dp12 = p2-p1
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
611 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
612 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y)
674
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
613 det = float(dp34.y*dp12.x-dp34.x*dp12.y)
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
614 if det == 0.:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
615 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
616 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
617 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
618 return p1+dp12.__mul__(ua)
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
619
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
620 # def intersection(p1, p2, dp1, dp2):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
621 # '''Returns the intersection point between the two lines
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
622 # defined by the respective vectors (dp) and origin points (p)'''
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
623 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
624 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
625 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
626 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
627 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
628 # [dp2.y*p2.x-dp2.x*p2.y]])
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
629
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
630 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
631 # return None
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
632 # else:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
633 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
634 # return Point(intersection[0,0], intersection[1,0])
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
635
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
636 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
637 '''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
638
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
639 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
640 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
641 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
642 inter = intersection(p1, p2, p3, p4)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
643 if (inter is not None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
644 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
645 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
646 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
647 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
648 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
649 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
650 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
651
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
652 def segmentLineIntersection(p1, p2, p3, p4):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
653 '''Indicates if the line going through p1 and p2 intersects inside p3, p4'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
654 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
655 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
656 return inter
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
657 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
658 return None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
659
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
660
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
661 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
662 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
663
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
664 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
665
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
666 def __init__(self, positions=None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
667 if positions is not None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
668 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
669 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
670 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
671
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
672 @staticmethod
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
673 def generate(p, v, nPoints):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
674 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
675 p0 = Point(p.x, p.y)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
676 t.addPosition(p0)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
677 for i in range(nPoints-1):
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
678 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
679 t.addPosition(p0)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
680 return t
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
681
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
682 @staticmethod
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
683 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
684 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
685 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
686
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
687 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
688 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
689 t = Trajectory()
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
690 if isinstance(points[0], list) or isinstance(points[0], tuple):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
691 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
692 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
693 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
694 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
695 t.addPosition(p)
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
696 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
697
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
698 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
699 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
700
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
701 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
702 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
703
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
704 def empty(self):
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
705 return self.__len__() == 0
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
706
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
707 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
708 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
709 return Point(self.positions[0][i], self.positions[1][i])
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
710 elif isinstance(i, slice):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
711 return Trajectory([self.positions[0][i],self.positions[1][i]])
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
712 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
713 raise TypeError("Invalid argument type.")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
714
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
715 def __str__(self):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
716 return ' '.join([self.__getitem__(i).__str__() for i in range(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
717
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
718 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
719 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
720
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
721 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
722 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
723 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
724
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
725 def __next__(self):
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
726 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
727 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
728 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
729 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
730 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
731
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
732 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
733 if self.length() == other.length():
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
734 result = True
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
735 for p, po in zip(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
736 result = result and (p == po)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
737 return result
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
738 else:
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
739 return False
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
740
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
741 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
742 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
743 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
744 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
745
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
746 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
747 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
748
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
749 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
750 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
751 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
752
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
753 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
754 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
755
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
756 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
757 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
758 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
759
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
760 @staticmethod
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
761 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, objNum = None, **kwargs):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
762 if lastCoordinate is None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
763 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
764 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
765 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
766 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
767 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
768 if objNum is not None:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
769 text(positions[0][0], positions[1][0], '{}'.format(objNum))
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
770
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
771 def homographyProject(self, homography):
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
772 return Trajectory(cvutils.homographyProject(array(self.positions), homography).tolist())
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
773
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
774 def newCameraProject(self, newCameraMatrix):
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
775 return Trajectory(cvutils.newCameraProject(array(self.positions), newCameraMatrix).tolist())
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
776
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
777 def plot(self, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
778 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, objNum, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
779
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
780 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
781 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, objNum, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
782
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
783 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
784 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
620
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
785 [x*nPixelsPerUnitDistance for x in self.positions[1]]]
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
786 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, objNum, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
787
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
788 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
789 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
790
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
791 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
792 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
793
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
794 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
795 return array(self.positions)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
796
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
797 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
798 # 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
799 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
800
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
801 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
802 # 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
803 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
804
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
805 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
806 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
807 if self.length() != traj2.length():
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
808 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
809 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
810 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
811 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
812 [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
813
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
814 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
815 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
816 if self.length() != traj2.length():
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
817 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
818 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
819 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
820 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
821 [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
822
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
823 def __mul__(self, alpha):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
824 '''Returns a new trajectory of the same length'''
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
825 return Trajectory([[alpha*x for x in self.getXCoordinates()],
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
826 [alpha*y for y in self.getYCoordinates()]])
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
827
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
828 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
829 diff = Trajectory()
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
830 for i in range(1, self.length()):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
831 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
832 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
833 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
834 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
835
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
836 def differentiateSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='interp', cval=0.0, nInstantsIgnoredAtEnds = 2):
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
837 '''Differentiates the trajectory using the Savitsky Golay filter
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
838
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
839 window_length : The length of the filter window (i.e. the number of coefficients). window_length must be a positive odd integer.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
840 polyorder : The order of the polynomial used to fit the samples. polyorder must be less than window_length.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
841 deriv : The order of the derivative to compute. This must be a nonnegative integer. The default is 0, which means to filter the data without differentiating.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
842 delta : The spacing of the samples to which the filter will be applied. This is only used if deriv > 0. Default is 1.0.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
843 axis : The axis of the array x along which the filter is to be applied. Default is -1.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
844 mode : Must be mirror, constant, nearest, wrap or interp. This determines the type of extension to use for the padded signal to which the filter is applied. When mode is constant, the padding value is given by cval. See the Notes for more details on mirror, constant, wrap, and nearest. When the interp mode is selected (the default), no extension is used. Instead, a degree polyorder polynomial is fit to the last window_length values of the edges, and this polynomial is used to evaluate the last window_length // 2 output values.
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
845 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0.
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
846
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
847 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter'''
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
848 if removeBothEnds >=1:
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
849 pos = [self.positions[0][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds],
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
850 self.positions[1][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds]]
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
851 else:
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
852 pos = self.positions
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
853 filtered = savgol_filter(pos, window_length, polyorder, deriv, delta, axis, mode, cval)
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
854 return Trajectory(filtered)
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
855
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
856 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
857 '''Returns the list of the norms at each instant'''
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
858 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
859
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
860 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
861 '''Computes the distance from each point to the next and the cumulative distance up to the point
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
862 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
863 self.distances = []
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
864 self.cumulativeDistances = [0.]
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
865 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
866 cumulativeDistance = 0.
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
867 for i in range(self.length()-1):
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
868 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
869 self.distances.append(Point.distanceNorm2(p1,p2))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
870 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
871 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
872 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
873
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
874 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
875 '''Return the distance between points i and i+1'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
876 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
877 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
878 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
879 print('Index {} beyond trajectory length {}-1'.format(i, self.length()))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
880
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
881 def getCumulativeDistance(self, i):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
882 '''Return the cumulative distance between the beginning and point i'''
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
883 if i < self.length():
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
884 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
885 else:
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
886 print('Index {} beyond trajectory length {}'.format(i, self.length()))
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
887
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
888 def getMaxDistance(self, metric):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
889 'Returns the maximum distance between points in the trajectory'
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
890 positions = self.getPositions().asArray().T
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
891 return cdist(positions, positions, metric = metric).max()
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
892
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
893 def getClosestPoint(self, p1, maxDist2 = None):
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
894 '''Returns the instant of the closest position in trajectory to p1 (and the point)
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
895 if maxDist is not None, will check the distance is smaller
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
896 TODO: could use cdist for different metrics'''
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
897 distances2 = []
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
898 minDist2 = float('inf')
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
899 i = -1
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
900 for p2 in self:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
901 distances2.append(Point.distanceNorm2(p1, p2))
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
902 if distances2[-1] < minDist2:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
903 minDist2 = distances2[-1]
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
904 i = len(distances2)-1
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
905 if maxDist2 is not None and minDist2 < maxDist2:
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
906 return None
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
907 else:
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
908 return i
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
909
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
910 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
911 '''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
912 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
913 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
914 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
915 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
916 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
917 count += 1
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
918 return count >= lengthThreshold
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
919
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
920 def wiggliness(self):
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
921 straightDistance = Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
922 if straightDistance > 0:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
923 return self.getCumulativeDistance(self.length()-1)/float(straightDistance)
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
924 else:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
925 return None
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
926
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
927 def getIntersections(self, p1, p2):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
928 '''Returns a list of the indices at which the trajectory
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
929 intersects with the segment of extremities p1 and p2
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
930 Returns an empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
931 indices = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
932 intersections = []
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
933
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
934 for i in range(self.length()-1):
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
935 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
936 q2=self.__getitem__(i+1)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
937 p = segmentIntersection(q1, q2, p1, p2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
938 if p is not None:
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
939 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
940 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
941 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
942 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
943 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
944 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
945 indices.append(i+ratio)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
946 intersections.append(p)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
947 return indices, intersections
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
948
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
949 def getLineIntersections(self, p1, p2):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
950 '''Returns a list of the indices at which the trajectory
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
951 intersects with the line going through p1 and p2
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
952 Returns an empty list if there is no crossing'''
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
953 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
954 intersections = []
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
955
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
956 for i in range(self.length()-1):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
957 q1=self.__getitem__(i)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
958 q2=self.__getitem__(i+1)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
959 p = segmentLineIntersection(p1, p2, q1, q2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
960 if p is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
961 if q1.x != q2.x:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
962 ratio = (p.x-q1.x)/(q2.x-q1.x)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
963 elif q1.y != q2.y:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
964 ratio = (p.y-q1.y)/(q2.y-q1.y)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
965 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
966 ratio = 0
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
967 indices.append(i+ratio)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
968 intersections.append(p)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
969 return indices, intersections
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
970
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
971 def subTrajectoryInInterval(self, inter):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
972 'Returns all position between index inter.first and index.last (included)'
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
973 if inter.first >=0 and inter.last<= self.length():
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
974 return Trajectory([self.positions[0][inter.first:inter.last+1],
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
975 self.positions[1][inter.first:inter.last+1]])
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
976 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
977 return None
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
978
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
979 def subSample(self, step):
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
980 'Returns the positions very step'
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
981 return Trajectory([self.positions[0][::step],
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
982 self.positions[1][::step]])
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
983
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
984 if shapelyAvailable:
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
985 def getInstantsInPolygon(self, polygon):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
986 '''Returns the list of instants at which the trajectory is in the polygon'''
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
987 instants = []
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
988 n = self.length()
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
989 for t, x, y in zip(range(n), self.positions[0], self.positions[1]):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
990 if polygon.contains(shapelyPoint(x, y)):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
991 instants.append(t)
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
992 return instants
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
993
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
994 def getTrajectoryInPolygon(self, polygon, t2 = None):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
995 '''Returns the trajectory built with the set of points inside the (shapely) polygon
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
996 The polygon could be a prepared polygon (faster) from prepared.prep
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
997
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
998 t2 is another trajectory (could be velocities)
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
999 which is filtered based on the first (self) trajectory'''
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
1000 traj = Trajectory()
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1001 inPolygon = []
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1002 for x, y in zip(self.positions[0], self.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1003 inPolygon.append(polygon.contains(shapelyPoint(x, y)))
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1004 if inPolygon[-1]:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1005 traj.addPositionXY(x, y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1006 traj2 = Trajectory()
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1007 if t2 is not None:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1008 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1009 if inp:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1010 traj2.addPositionXY(x, y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1011 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1012
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1013 def proportionInPolygon(self, polygon, minProportion = 0.5):
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1014 instants = self.getInstantsInPolygon(polygon)
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1015 lengthThreshold = float(self.length())*minProportion
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1016 return len(instants) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1017 else:
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1018 def getTrajectoryInPolygon(self, polygon, t2 = None):
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1019 '''Returns the trajectory built with the set of points inside the polygon
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1020 (array of Nx2 coordinates of the polygon vertices)'''
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1021 traj = Trajectory()
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1022 inPolygon = []
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1023 for p in self:
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1024 inPolygon.append(p.inPolygon(polygon))
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1025 if inPolygon[-1]:
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1026 traj.addPosition(p)
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1027 traj2 = Trajectory()
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1028 if t2 is not None:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1029 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1030 if inp:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1031 traj2.addPositionXY(p.x, p.y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1032 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1033
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1034 def proportionInPolygon(self, polygon, minProportion = 0.5):
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1035 inPolygon = [p.inPolygon(polygon) for p in self]
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1036 lengthThreshold = float(self.length())*minProportion
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1037 return sum(inPolygon) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1038
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1039 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1040 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1041 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1042
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1043 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1044 '''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
1045 longitudinal coordinate is stored as first coordinate (exterior name S)
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1046 lateral coordinate is stored as second coordinate
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1047 the third "lane" coordinate is for an alignment id,
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1048 whether explicit for a list/dict of alignments,
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1049 or implicit for a road with lane numbers'''
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1050
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1051 def __init__(self, S = None, Y = None, lanes = None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1052 if S is None or Y is None or len(S) != len(Y):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1053 self.positions = [[],[]]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1054 if S is not None and Y is not None and len(S) != len(Y):
543
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
1055 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
1056 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1057 self.positions = [S,Y]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1058 if lanes is None or len(lanes) != self.length():
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1059 self.lanes = [None]*int(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
1060 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1061 self.lanes = lanes
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1062
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1063 @staticmethod
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1064 def generate(s, v, nPoints, lane, y = 0):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1065 '''s is initial position, v is velocity
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1066 0 in lateral coordinate by default
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1067 TODO 2D velocity for lane change?'''
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1068 S = [s]
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1069 for i in range(nPoints-1):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1070 S.append(S[-1]+v)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1071 Y = [y]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1072 lanes = [lane]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1073 return CurvilinearTrajectory(S, Y, lanes)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1074
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1075 def append(self,other):
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1076 '''adds positions of other to the curvilinear trajectory (in-place modification)'''
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1077 for p in other:
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1078 self.addPosition(p)
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1079
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1080 @staticmethod
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1081 def fromTrajectoryProjection(t, alignments, halfWidth = 3):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1082 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()'
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1083 (curvilinearPositions instance) which holds information about the
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1084 curvilinear coordinates using alignment metadata.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1085 From Paul St-Aubin's PVA tools
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1086 ======
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1087
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1088 Input:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1089 ======
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1090 alignments = a list of alignments, where each alignment is a list of
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1091 points (class Point).
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1092 halfWidth = moving average window (in points) in which to smooth
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1093 lane changes. As per tools_math.cat_mvgavg(), this term
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1094 is a search *radius* around the center of the window.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1095
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1096 '''
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1097 curvilinearPositions = CurvilinearTrajectory()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1098
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1099 #For each point
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1100 for i in range(int(t.length())):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1101 result = getSYfromXY(t[i], alignments)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1102
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1103 # Error handling
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1104 if(result is None):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1105 print('Warning: trajectory at point {} {} has alignment errors (alignment snapping)\nCurvilinear trajectory could not be computed'.format(i, t[i]))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1106 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1107 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1108 curvilinearPositions.addPositionSYL(S, Y, align)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1109
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1110 ## Go back through points and correct lane
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1111 #Run through objects looking for outlier point
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1112 smoothed_lanes = utils.filterCategoricalMovingWindow(curvilinearPositions.getLanes(), halfWidth)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1113 ## Recalculate projected point to new lane
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1114 lanes = curvilinearPositions.getLanes()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1115 if(lanes != smoothed_lanes):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1116 for i in range(len(lanes)):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1117 if(lanes[i] != smoothed_lanes[i]):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1118 result = getSYfromXY(t[i],[alignments[smoothed_lanes[i]]])
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1119
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1120 # Error handling
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1121 if(result is None):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1122 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1123 print(' Warning: trajectory at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(i, t[i]))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1124 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1125 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1126 curvilinearPositions.setPosition(i, S, Y, align)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1127 return curvilinearPositions
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1128
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1129 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
1130 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
1131 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
1132 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1133 raise TypeError("Invalid argument type.")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1134 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1135
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1136 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1137 return self.getXCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1138
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1139 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1140 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1141
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1142 def getSCoordAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1143 return self.positions[0][i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1144
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1145 def getYCoordAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1146 return self.positions[1][i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1147
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1148 def getLaneAt(self, i):
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1149 return self.lanes[i]
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1150
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1151 def subTrajectoryInInterval(self, inter):
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1152 'Returns all curvilinear positions between index inter.first and index.last (included)'
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1153 if inter.first >=0 and inter.last<= self.length():
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1154 return CurvilinearTrajectory(self.positions[0][inter.first:inter.last+1],
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1155 self.positions[1][inter.first:inter.last+1],
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1156 self.lanes[inter.first:inter.last+1])
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1157 else:
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1158 return None
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1159
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1160 def addPositionSYL(self, s, y, lane = None):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1161 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1162 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1163
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1164 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
1165 '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
1166 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
1167
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1168 def duplicateLastPosition(self):
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1169 super(CurvilinearTrajectory, self).duplicateLastPosition()
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1170 self.lanes.append(self.lanes[-1])
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1171
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1172 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
1173 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1174 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1175 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1176
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1177 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
1178 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1179 p1 = self[0]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1180 for i in range(1, self.length()):
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1181 p2 = self[i]
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1182 if p2[2] == p1[2]:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1183 laneChange = None
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1184 else:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1185 laneChange = (p1[2], p2[2])
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1186 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], laneChange)
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1187 p1=p2
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
1188 if doubleLastPosition and self.length() > 1:
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1189 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
1190 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1191
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1192 def getIntersections(self, S1, lane = None):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1193 '''Returns a list of the indices at which the trajectory
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1194 goes past the curvilinear coordinate S1
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1195 (in provided lane if lane is not None)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
1196 Returns an empty list if there is no crossing'''
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1197 indices = []
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1198 for i in range(self.length()-1):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1199 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1200 q2=self.__getitem__(i+1)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1201 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1202 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
1203 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1204
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1205 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1206 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1207 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1208
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1209 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
1210 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1211 '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
1212 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1213 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1214 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1215 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1216
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1217 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1218
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1219 class CarClassifier:
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1220 def predict(self, hog):
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1221 return userType2Num['car']
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1222 carClassifier = CarClassifier()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1223
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 663
diff changeset
1224 class MovingObject(STObject, VideoFilenameAddable):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1225 '''Class for moving objects: a spatio-temporal object
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1226 with a trajectory and a geometry (constant volume over time)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1227 and a usertype (e.g. road user) coded as a number (see userTypeNames)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1228 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1229
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1230 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None, initCurvilinear = False):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
1231 super(MovingObject, self).__init__(num, timeInterval)
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1232 if initCurvilinear:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1233 self.curvilinearPositions = positions
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1234 self.curvilinearVelocities = velocities # third component is (previousAlignmentIdx, newAlignmentIdx) or None if no change
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1235 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1236 self.positions = positions
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1237 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1238 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1239 self.userType = userType
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1240 self.setNObjects(nObjects) # a feature has None for nObjects
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1241 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1242 # compute bounding polygon from trajectory
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1243
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1244 @staticmethod
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1245 def croppedTimeInterval(obj, value, after = True):
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1246 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant())
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1247 if obj.positions is not None :
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1248 newPositions = obj.positions[slice(newTimeInterval.first, newTimeInterval.last+1)]
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1249 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1250 newPositions = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1251 if obj.velocities is not None :
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1252 newVelocities = obj.velocities[slice(newTimeInterval.first, newTimeInterval.last+1)]
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1253 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1254 newVelocities = None
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1255 if obj.hasFeatures():
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1256 newFeatures = [f.croppedTimeInterval(value, after) for f in obj.features]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1257 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1258 newFeatures = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1259 res = MovingObject(obj.getNum(), newTimeInterval, newPositions, newVelocities, obj.geometry, obj.userType, obj.nObjects)
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1260 res.features = newFeatures
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1261 res.featureNumbers = obj.featureNumbers
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1262 #if hasattr(obj, 'projectedPositions'):
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1263 # res.projectedPositions = obj.projectedPositions[slice(newTimeInterval.first, newTimeInterval.last+1)]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1264 return res
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1265
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
1266
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1267 @staticmethod
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1268 def aggregateTrajectories(features, interval = None, aggFunc = mean):
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1269 'Computes the aggregate trajectory from list of MovingObject features'
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1270 positions = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1271 velocities = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1272 if interval is None:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1273 inter = TimeInterval.unionIntervals([f.getTimeInterval() for f in features])
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1274 else:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1275 inter = interval
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1276 for t in inter:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1277 points = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1278 vels = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1279 for f in features:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1280 if f.existsAtInstant(t):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1281 points.append(f.getPositionAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1282 vels.append(f.getVelocityAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1283 positions.addPosition(Point.agg(points, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1284 velocities.addPosition(Point.agg(vels, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1285 return inter, positions, velocities
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1286
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1287 @staticmethod
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
1288 def generate(num, p, v, timeInterval):
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1289 nPoints = int(timeInterval.length())
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1290 positions = Trajectory.generate(p, v, nPoints)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1291 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints]))
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1292
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1293 def updatePositions(self):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1294 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval())
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1295
1100
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1296 def addNewellAttributes(self, desiredSpeed, tau, d, initialCumulatedHeadway, initialAlignmentIdx):
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1297 '''adds attributes necessary for Newell car following model
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1298 using curvilinear trajectories'''
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1299 # Newell model parameters
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1300 self.desiredSpeed = desiredSpeed
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1301 self.tau = tau
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1302 self.d = d
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1303 self.leader = None
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1304 # other attributes necessary for computation
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1305 self.initialCumulatedHeadway = initialCumulatedHeadway
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1306 self.initialAlignmentIdx = initialAlignmentIdx
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1307 self.timeAtS0 = None # time at which the vehicle's position is s=0 on the alignment
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1308
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1309 def updateCurvilinearPositions(self, method, instant, timeStep, _nextAlignmentIdx = None, maxSpeed = None, acceleration = None):
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1310 '''Update curvilinear position of user at new instant'''
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1311
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
1312 if method == 'newell':
1100
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1313 if self.curvilinearPositions is None: # vehicle without positions
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1314 if self.timeAtS0 is None:
1099
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1315 if self.leader is None:
1100
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1316 self.timeAtS0 = self.initialCumulatedHeadway
1099
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1317 elif self.leader.curvilinearPositions is not None and self.leader.curvilinearPositions.getSCoordAt(-1) > self.d and len(self.leader.curvilinearPositions) >=2:
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1318 firstInstantAfterD = self.leader.getLastInstant()
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1319 while self.leader.existsAtInstant(firstInstantAfterD) and self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD-1)[0] > self.d:# find first instant after d
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1320 firstInstantAfterD -= 1 # if not recorded position before self.d, we extrapolate linearly from first known position
4ab5c63c13a3 first working version of newell model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1098
diff changeset
1321 leaderSpeed = self.leader.getCurvilinearVelocityAtInstant(firstInstantAfterD-1)[0]
1100
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1322 self.timeAtS0 = self.tau + firstInstantAfterD*timeStep - (self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD)[0]-self.d)*timeStep/leaderSpeed # second part is the time at which leader is at self.d
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1323 if self.timeAtS0 < self.initialCumulatedHeadway: #obj appears at instant initialCumulatedHeadway at x=0 with desiredSpeed
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1324 self.timeAtS0 = self.initialCumulatedHeadway
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1325 elif instant*timeStep > self.timeAtS0:
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1326 #firstInstant = int(ceil(self.timeAtS0/timeStep))# this first instant is instant by definition
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1327 leaderInstant = instant-self.tau/timeStep
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1328 if self.leader is None:
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1329 s = (timeStep*instant-self.timeAtS0)*self.desiredSpeed
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1330 self.timeInterval = TimeInterval(instant, instant)
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1331 self.curvilinearPositions = CurvilinearTrajectory([s], [0.], [self.initialAlignmentIdx])
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1332 self.curvilinearVelocities = CurvilinearTrajectory()
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1333 elif self.leader.existsAtInstant(leaderInstant):
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1334 self.timeInterval = TimeInterval(instant, instant)
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1335 freeFlowCoord = (instant*timeStep - self.timeAtS0)*self.desiredSpeed
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1336 # constrainedCoord at instant = xn-1(t = instant*timeStep-self.tau)-self.d
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1337 constrainedCoord = self.leader.interpolateCurvilinearPositions(leaderInstant)[0]-self.d
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1338 self.curvilinearPositions = CurvilinearTrajectory([min(freeFlowCoord, constrainedCoord)], [0.], [self.initialAlignmentIdx])
1e833fd8490d working version of Newell car following model
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1099
diff changeset
1339 self.curvilinearVelocities = CurvilinearTrajectory()
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1340 else:
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1341 if _nextAlignmentIdx is not None:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1342 laneChange = (self.curvilinearPositions.getLaneAt(-1), _nextAlignmentIdx)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1343 nextAlignmentIdx = _nextAlignmentIdx
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1344 else:
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1345 laneChange = None
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1346 nextAlignmentIdx = self.curvilinearPositions.getLaneAt(-1)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1347 s1 = self.curvilinearPositions.getSCoordAt(-1)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1348 freeFlowCoord = s1 + self.desiredSpeed*timeStep
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1349 if self.leader is None:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1350 if self.getLastInstant() < instant:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1351 s2 = freeFlowCoord
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1352 self.curvilinearPositions.addPositionSYL(freeFlowCoord, 0., nextAlignmentIdx)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1353 else:
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1354 constrainedCoord = self.leader.interpolateCurvilinearPositions(instant-self.tau/timeStep)[0]-self.d
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1355 s2 = min(freeFlowCoord, constrainedCoord)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1356 self.curvilinearPositions.addPositionSYL(s2, 0., nextAlignmentIdx)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1357 self.setLastInstant(instant)
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1358 self.curvilinearVelocities.addPositionSYL(s2-s1, 0., laneChange)
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1359
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1360 @staticmethod
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1361 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1362 '''Concatenates two objects, whether overlapping temporally or not
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1363
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1364 Positions will be recomputed only if computePositions is True
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1365 Otherwise, only featureNumbers and/or features will be merged'''
997
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1366 if num is None:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1367 newNum = obj1.getNum()
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1368 else:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1369 newNum = num
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1370 commonTimeInterval = obj1.commonTimeInterval(obj2)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1371 if commonTimeInterval.empty():
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1372 #print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval()))
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1373 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()), max(obj1.getFirstInstant(),obj2.getFirstInstant()))
994
8118c6b77d7c update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
1374 if obj1.existsAtInstant(emptyInterval.last):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1375 firstObject = obj2
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1376 secondObject = obj1
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1377 else:
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1378 firstObject = obj1
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1379 secondObject = obj2
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1380 v = (secondObject.getPositionAtInstant(emptyInterval.last)-firstObject.getPositionAtInstant(emptyInterval.first)).divide(emptyInterval.length()-1)
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1381 positions = copy.deepcopy(firstObject.getPositions())
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1382 velocities = copy.deepcopy(firstObject.getPositions())
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1383 featurePositions = Trajectory()
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1384 featureVelocities = Trajectory()
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1385 p = firstObject.getPositionAtInstant(emptyInterval.first)+v
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1386 for t in range(emptyInterval.first+1, emptyInterval.last):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1387 positions.addPosition(p)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1388 velocities.addPosition(v)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1389 featurePositions.addPosition(p)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1390 featureVelocities.addPosition(v)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1391 p=p+v
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1392 for t in secondObject.getTimeInterval():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1393 positions.addPosition(secondObject.getPositionAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1394 velocities.addPosition(secondObject.getVelocityAtInstant(t))
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1395 newObject = MovingObject(newNum, TimeInterval(firstObject.getFirstInstant(), secondObject.getLastInstant()), positions, velocities, nObjects = 1)
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1396 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1397 if newFeatureNum is not None:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1398 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers+[newFeatureNum]
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1399 else:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1400 print('Issue, new created feature has no num id')
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1401 if obj1.hasFeatures() and obj2.hasFeatures():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1402 newObject.features = obj1.getFeatures()+obj2.getFeatures()+[MovingObject(newFeatureNum, TimeInterval(emptyInterval.first+1, emptyInterval.last-1), featurePositions, featureVelocities)]
1076
108c5dc4e34a Correcting loaders
Wendlasida
parents: 1075
diff changeset
1403 newObject.updatePositions()
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1404 else: # time intervals overlap
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1405 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1406 newObject = MovingObject(newNum, newTimeInterval, nObjects = 1) # hypothesis is that it's the same object being reunited
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1407 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1408 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1409 if obj1.hasFeatures() and obj2.hasFeatures():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1410 newObject.features = obj1.getFeatures()+obj2.getFeatures()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1411 newObject.updatePositions()
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1412 else:
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1413 print('Cannot update object positions without features')
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1414 # user type
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1415 if obj1.getUserType() != obj2.getUserType():
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1416 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()]))
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1417 newObject.setUserType(obj1.getUserType())
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1418 return newObject
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1419
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1420 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1421 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1422 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
1423 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
1424 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1425 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant())
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1426 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType, self.nObjects)
982
51d8406b2489 corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
1427 if self.velocities is not None:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1428 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1429 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1430 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1431 print('The object does not exist at {}'.format(inter))
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1432 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1433
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1434 def getObjectsInMask(self, mask, homography = None, minLength = 1):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1435 '''Returns new objects made of the positions in the mask
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1436 mask is in the destination of the homography space'''
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1437 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1438 self.projectedPositions = self.positions.homographyProject(homography)
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1439 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1440 self.projectedPositions = self.positions
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1441 def inMask(positions, i, mask):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1442 p = positions[i]
982
51d8406b2489 corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
1443 return mask[int(p.y), int(p.x)] != 0.
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1444
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1445 #subTimeIntervals self.getFirstInstant()+i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1446 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1447 # 'connected components' in subTimeIntervals
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1448 l = 0
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1449 intervalLabels = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1450 prev = True
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1451 for i in filteredIndices:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1452 if i:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1453 if not prev: # new interval
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1454 l += 1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1455 intervalLabels.append(l)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1456 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1457 intervalLabels.append(-1)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1458 prev = i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1459 intervalLabels = array(intervalLabels)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1460 subObjects = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1461 for l in set(intervalLabels):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1462 if l >= 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1463 if sum(intervalLabels == l) >= minLength:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1464 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1465 subTimeInterval = TimeInterval(min(times), max(times))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1466 subObjects.append(self.getObjectInTimeInterval(subTimeInterval))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1467
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1468 return subObjects
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1469
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1470 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1471 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1472
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1473 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1474 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1475
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1476 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
1477 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
1478
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1479 def computeCumulativeDistances(self):
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1480 self.positions.computeCumulativeDistances()
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1481
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1482 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1483 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1484 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1485 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1486 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1487
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1488 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1489 if hasattr(self, 'curvilinearPositions'):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1490 if lane is None:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1491 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1492 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1493 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1494 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1495 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1496 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1497 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1498 if p[2] == lane:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1499 instants.append(t)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1500 coords.append(p[0])
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1501 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1502 instants.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1503 coords.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1504 plot(instants, coords, options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1505 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1506 plot([instants[0]], [coords[0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1507 else:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1508 print('Object {} has no curvilinear positions'.format(self.getNum()))
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1509
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1510 def interpolateCurvilinearPositions(self, t):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1511 '''Linear interpolation of curvilinear positions, t being a float'''
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1512 if hasattr(self, 'curvilinearPositions'):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1513 if self.existsAtInstant(t):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1514 i = int(floor(t))
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1515 p1 = self.getCurvilinearPositionAtInstant(i)
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1516 p2 = self.getCurvilinearPositionAtInstant(i+1)
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1517 alpha = t-float(i)
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1518 if alpha < 0.5:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1519 lane = p1[2]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1520 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1521 lane = p2[2]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1522 return [(1-alpha)*p1[0]+alpha*p2[0], (1-alpha)*p1[1]+alpha*p2[1], lane]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1523 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1524 print('Object {} does not exist at {}'.format(self.getNum(), t))
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1525 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1526 print('Object {} has no curvilinear positions'.format(self.getNum()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1527
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1528 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
1529 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
1530
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1531 def getNObjects(self):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1532 return self.nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1533
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1534 def setNObjects(self, nObjects):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1535 if nObjects is None or nObjects >= 1:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1536 self.nObjects = nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1537 else:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1538 print('Number of objects represented by object {} must be greater or equal to 1 ({})'.format(self.getNum(), nObjects))
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1539 self.nObjects = None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1540
880
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1541 def setFeatures(self, features, featuresOrdered = False):
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1542 '''Sets the features in the features field based on featureNumbers
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1543 if not all features are loaded from 0, one needs to renumber in a dict'''
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1544 if featuresOrdered:
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1545 tmp = features
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1546 else:
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1547 tmp = {f.getNum():f for f in features}
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1548 self.features = [tmp[i] for i in self.featureNumbers]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1549
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1550 def getFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1551 return self.features
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1552
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1553 def hasFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1554 return (self.features is not None)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1555
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1556 def getFeature(self, i):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1557 if self.hasFeatures() and i<len(self.features):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1558 return self.features[i]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1559 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1560 return None
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1561
869
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1562 def getNLongestFeatures(self, nFeatures = 1):
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1563 if self.features is None:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1564 return []
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1565 else:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1566 tmp = utils.sortByLength(self.getFeatures(), reverse = True)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1567 return tmp[:min(len(tmp), nFeatures)]
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1568
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
1569 def getFeatureNumbersOverTime(self):
666
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1570 '''Returns the number of features at each instant
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1571 dict instant -> number of features'''
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1572 if self.hasFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1573 featureNumbers = {}
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1574 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1575 n = 0
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1576 for f in self.getFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1577 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1578 n += 1
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1579 featureNumbers[t]=n
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1580 return featureNumbers
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1581 else:
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1582 print('Object {} has no features loaded.'.format(self.getNum()))
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1583 return None
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1584
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1585 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1586 speeds = self.getVelocities().norm()
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1587 if nInstantsIgnoredAtEnds > 0:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1588 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1589 return speeds[n:-n]
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1590 else:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1591 return speeds
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1592
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1593 def getAccelerations(self, window_length, polyorder, delta=1.0, axis=-1, mode='interp', cval=0.0, speeds = None, nInstantsIgnoredAtEnds = 0):
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1594 '''Returns the 1-D acceleration from the 1-D speeds
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1595 Caution about previously filtered data'''
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1596 if speeds is None:
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1597 speeds = self.getSpeeds(nInstantsIgnoredAtEnds)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1598 return savgol_filter(speeds, window_length, polyorder, 1, delta, axis, mode, cval)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1599
633
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1600 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1601 from indicators import SeverityIndicator
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1602 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()})
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1603
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1604 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1605 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1606
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1607 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1608 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1609
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1610 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1611 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
1612
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1613 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1614 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
1615
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1616 def getCurvilinearPositionAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1617 return self.curvilinearPositions[i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1618
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1619 def getCurvilinearVelocityAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1620 return self.curvilinearVelocities[i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1621
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1622 def getCurvilinearPositionAtInstant(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1623 return self.curvilinearPositions[i-self.getFirstInstant()]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1624
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1625 def getCurvilinearVelocityAtInstant(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1626 return self.curvilinearVelocities[i-self.getFirstInstant()]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1627
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1628 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1629 return self.positions.getXCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1630
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1631 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1632 return self.positions.getYCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1633
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1634 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1635 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1636 objNum = self.getNum()
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1637 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1638 objNum = None
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1639 if withFeatures and self.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1640 for f in self.getFeatures():
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1641 f.positions.plot('r', True, timeStep, **kwargs)
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1642 self.positions.plot('bx-', True, timeStep, objNum, **kwargs)
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1643 else:
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1644 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
1645
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1646 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1647 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1648 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, self.getNum(), **kwargs)
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1649 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1650 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
1651
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1652 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1653 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
1654
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1655 def speedDiagnostics(self, framerate = 1., display = False, nInstantsIgnoredAtEnds=0):
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1656 speeds = framerate*self.getSpeeds(nInstantsIgnoredAtEnds)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1657 coef = utils.linearRegression(list(range(len(speeds))), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1658 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
1659 if display:
672
5473b7460375 moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 666
diff changeset
1660 from matplotlib.pyplot import figure, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1661 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1662 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1663 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1664 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1665 plot(list(self.getTimeInterval()), speeds)
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1666 figure(3)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1667 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1668
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1669 @staticmethod
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1670 def minMaxDistance(obj1, obj2):
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1671 '''Computes the min max distance used for feature grouping'''
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1672 commonTimeInterval = obj1.commonTimeInterval(obj2)
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1673 if not commonTimeInterval.empty():
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1674 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1675 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1676 for t in list(commonTimeInterval)[1:]:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1677 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1678 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1679 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1680 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1681 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1682 return int(commonTimeInterval.length()), minDistance, maxDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1683 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1684 return int(commonTimeInterval.length()), None, None
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1685
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1686 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1687 def distances(obj1, obj2, instant1, _instant2 = None):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1688 '''Returns the distances between all features of the 2 objects
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1689 at the same instant instant1
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1690 or at instant1 and instant2'''
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1691 if _instant2 is None:
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1692 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1693 else:
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1694 instant2 = _instant2
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1695 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
1696 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
1697 return cdist(positions1, positions2, metric = 'euclidean')
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1698
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1699 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1700 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1701 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1702
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1703 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1704 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1705 return MovingObject.distances(obj1, obj2, instant1, instant2).max()
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1706
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1707 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1708 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1709 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
1710 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1711 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1712 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1713 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1714 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
1715 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1716 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1717 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1718 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1719 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1720 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
1721 return None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1722
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1723 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1724 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1725 self.endRouteID = endRouteID
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1726
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1727 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
1728 '''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
1729 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
1730 empty list if there is no crossing'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1731 indices, intersections = self.positions.getIntersections(p1, p2)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1732 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
1733
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1734 def computeTrajectorySimilarities(self, prototypes, lcss):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1735 'Computes the similarities to the prototypes using the LCSS'
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1736 if not hasattr(self, 'prototypeSimilarities'):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1737 self.prototypeSimilarities = []
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1738 for proto in prototypes:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1739 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1740 similarities = lcss.similarityTable[-1, :-1].astype(float)
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1741 self.prototypeSimilarities.append(similarities/minimum(arange(1., len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities))))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1742
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1743 @staticmethod
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1744 def computePET(obj1, obj2, collisionDistanceThreshold):
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1745 '''Post-encroachment time based on distance threshold
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1746
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1747 Returns the smallest time difference when the object positions are within collisionDistanceThreshold
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1748 and the instants at which each object is passing through its corresponding position'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1749 positions1 = [p.astuple() for p in obj1.getPositions()]
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1750 positions2 = [p.astuple() for p in obj2.getPositions()]
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1751 n1 = len(positions1)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1752 n2 = len(positions2)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1753 pets = zeros((n1, n2))
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1754 for i,t1 in enumerate(obj1.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1755 for j,t2 in enumerate(obj2.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1756 pets[i,j] = abs(t1-t2)
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1757 distances = cdist(positions1, positions2, metric = 'euclidean')
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1758 smallDistances = (distances <= collisionDistanceThreshold)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1759 if smallDistances.any():
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1760 smallPets = pets[smallDistances]
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1761 petIdx = smallPets.argmin()
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1762 distanceIndices = argwhere(smallDistances)[petIdx]
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1763 return smallPets[petIdx], obj1.getFirstInstant()+distanceIndices[0], obj2.getFirstInstant()+distanceIndices[1]
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1764 else:
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1765 return None, None, None
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1766
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
1767 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1768 '''Predicts the position of object at instant+deltaT,
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1769 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
1770 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
1771
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1772 def projectCurvilinear(self, alignments, halfWidth = 3):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1773 self.curvilinearPositions = CurvilinearTrajectory.fromTrajectoryProjection(self.getPositions(), alignments, halfWidth)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1774
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1775 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1776 '''Computes the trajectory as the mean of all features
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1777 if a feature exists, its position is
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1778
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1779 Warning work in progress
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1780 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1781 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1782 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1783 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1784 else:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1785 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1786 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1787 for i in range(nFeatures):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1788 for j in range(i):
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1789 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1790 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1791 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1792 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1793 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1794 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1795 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1796 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1797 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi))
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1798 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1799
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1800 def computeBoundingPolygon(self, instant):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1801 '''Returns a bounding box for the feature positions at instant
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1802 bounding box format is a list of points (4 in this case for a rectangle)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1803
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1804 TODO add method argument if using different methods/shapes'''
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1805 if self.hasFeatures():
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1806 positions = [f.getPositionAtInstant(instant) for f in self.getFeatures() if f.existsAtInstant(instant)]
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1807 return Point.boundingRectangle(positions, self.getVelocityAtInstant(instant))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1808 else:
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1809 print('Object {} has no features'.format(self.getNum()))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1810 return None
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1811
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
1812 ###
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
1813 # 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
1814 ###
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1815 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1816 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1817 slow: non-motorized -> pedestrians
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 583
diff changeset
1818 fast: motorized -> cars
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1819
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1820 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile:
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1821 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile'''
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1822 speeds = self.getSpeeds(nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1823 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1824 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1825 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1826 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1827
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1828 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1829 '''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
1830 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
1831 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
1832 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
1833
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1834 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
1835 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
1836 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
1837 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
1838 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1839 return x'''
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1840 if not hasattr(self, 'aggregatedSpeed'):
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1841 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1842 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1843 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1844 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1845 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
1846 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
1847
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1848 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0, homography = None, intrinsicCameraMatrix = None, distortionCoefficients = None):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1849 '''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
1850
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1851 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1852 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1853 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1854 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1855 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1856 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1857 else:
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1858 self.appearanceClassifier = carClassifier
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1859 # project feature positions
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1860 if self.hasFeatures():
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1861 for f in self.getFeatures():
935
0e63a918a1ca updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
1862 pp = cvutils.worldToImageProject(f.getPositions().asArray(), intrinsicCameraMatrix, distortionCoefficients, homography).tolist()
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1863 f.positions = Trajectory(pp)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1864 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
1865
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1866 def classifyUserTypeHoGSVMAtInstant(self, img, instant, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm):
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1867 '''Extracts the image box around the object
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1868 (of square size max(width, height) of the box around the features,
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1869 with an added px or py for width and height (around the box))
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1870 computes HOG on this cropped image (with parameters rescaleSize, orientations, pixelsPerCell, cellsPerBlock)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1871 and applies the SVM model on it'''
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1872 croppedImg = cvutils.imageBox(img, self, instant, width, height, px, py, minNPixels)
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
1873 if croppedImg is not None and len(croppedImg) > 0:
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1874 hog = cvutils.HOG(croppedImg, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
1875 self.userTypes[instant] = self.appearanceClassifier.predict(hog.reshape(1,hog.size))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1876 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
1877 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
1878
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1879 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, maxPercentUnknown = 0.5, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2)):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1880 '''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
1881 (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
1882
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1883 images is a dictionary of images indexed by instant
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1884 With default parameters, the general (ped-bike-car) classifier will be used
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1885
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1886 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1887 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'):
845
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 828
diff changeset
1888 print('Initializing the data structures for classification by HoG-SVM')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1889 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1890
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1891 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1892 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
1893 if t not in self.userTypes:
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1894 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1895 # compute P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1896 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1897 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
1898 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
1899 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1900 # compute P(Class|Appearance)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1901 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1902 nInstantsUserType[userType2Num['unknown']] = 0
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1903 for t in self.userTypes:
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1904 nInstantsUserType[self.userTypes[t]] += 1 #nInstantsUserType.get(self.userTypes[t], 0) + 1
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1905 # result is P(Class|Appearance) x P(Speed|Class)
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1906 if nInstantsUserType[userType2Num['unknown']] < maxPercentUnknown*self.length(): # if not too many unknowns
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1907 for userTypeNum in userTypeProbabilities:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1908 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum]
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1909 # class is the user type that maximizes usertype probabilities
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1910 if nInstantsUserType[userType2Num['unknown']] >= maxPercentUnknown*self.length() and (speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable): # if no speed information and too many unknowns
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1911 self.setUserType(userType2Num['unknown'])
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1912 else:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1913 self.setUserType(utils.argmaxDict(userTypeProbabilities))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1914
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
1915 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
1916 '''Classifies the object based on its location (projected to image space)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1917 areas is a dictionary of matrix of the size of the image space
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
1918 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
1919
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
1920 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
1921 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
1922 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
1923 if not hasattr(self, projectedPositions):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1924 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1925 self.projectedPositions = obj.positions.homographyProject(homography)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1926 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
1927 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1928 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
1929 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
1930 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
1931 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
1932 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
1933 # 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
1934 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1935
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1936 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1937 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1938 '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
1939 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
1940 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
1941 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
1942
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1943 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1944 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1945 '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
1946 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
1947 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
1948
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1949
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1950 class Prototype(object):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1951 'Class for a prototype'
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1952
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1953 def __init__(self, filename, num, trajectoryType, nMatchings = None):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1954 self.filename = filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1955 self.num = num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1956 self.trajectoryType = trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1957 self.nMatchings = nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1958 self.movingObject = None
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1959
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1960 def getFilename(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1961 return self.filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1962 def getNum(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1963 return self.num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1964 def getTrajectoryType(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1965 return self.trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1966 def getNMatchings(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1967 return self.nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1968 def getMovingObject(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1969 return self.movingObject
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1970 def setMovingObject(self, o):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1971 self.movingObject = o
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
1972 def __str__(self):
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
1973 return '{} {} {}'.format(self.filename, self.num, self.trajectoryType)
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1974 def __eq__(self, p2):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1975 return self.filename == p2.filename and self.num == p2.num and self.trajectoryType == p2.trajectoryType
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1976 def __hash__(self):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1977 return hash((self.filename, self.num, self.trajectoryType))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1978
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1979 ##################
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1980 # Annotations
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1981 ##################
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1982
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1983 class BBMovingObject(MovingObject):
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1984 '''Class for a moving object represented as a bounding box
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1985 used for series of ground truth annotations using bounding boxes
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1986 and for the output of Urban Tracker http://www.jpjodoin.com/urbantracker/
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1987
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1988 By default in image space
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1989
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1990 Its center is the center of the box (generalize to other shapes?)
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1991 (computed after projecting if homography available)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1992 '''
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1993
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1994 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']):
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1995 super(BBMovingObject, self).__init__(num, timeInterval, userType = userType)
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1996 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1997 self.bottomRightPositions = bottomRightPositions.getPositions()
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1998
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1999 def computeCentroidTrajectory(self, homography = None):
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
2000 self.positions = self.topLeftPositions.add(self.bottomRightPositions).__mul__(0.5)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
2001 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
2002 self.positions = self.positions.homographyProject(homography)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2003
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2004 def matches(self, obj, instant, matchingDistance):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2005 '''Indicates if the annotation matches obj (MovingObject)
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2006 with threshold matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2007 Returns distance if below matchingDistance, matchingDistance+1 otherwise
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2008 (returns an actual value, otherwise munkres does not terminate)'''
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2009 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2010 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2011 return d
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2012 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2013 return matchingDistance + 1
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2014
1081
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2015 def matchObjects(obj1, obj2, instant, matchingDistance):
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2016 '''Indicates if obj matches obj2 with threshold matchingDistance
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2017 Returns distance if below matchingDistance, matchingDistance+1 otherwise
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2018 (returns an actual value, otherwise munkres does not terminate)'''
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2019 d = Point.distanceNorm2(obj1.getPositionAtInstant(instant), obj2.getPositionAtInstant(instant))
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2020 if d < matchingDistance:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2021 return d
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2022 else:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2023 return matchingDistance + 1
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2024
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2025 # TODO class to have different matching methods, eg with something like matchObjects
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2026 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2027 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2028
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2029 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2030 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2031
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2032 objects and annotations are supposed to in the same space
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
2033 current implementation is BBMovingObject (bounding boxes)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2034 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2035
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2036 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2037 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2038
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2039 Output: returns motp, mota, mt, mme, fpt, gt
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2040 mt number of missed GT.frames (sum of the number of GT not detected in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2041 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2042 fpt number of false alarm.frames (tracker objects without match in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2043 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2044
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2045 if returnMatches is True, return as 2 new arguments the GT and TO matches
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2046 matches is a dict
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2047 matches[i] is the list of matches for GT/TO i
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2048 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2049 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm)
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2050
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2051 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance?
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2052 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2053 from munkres import Munkres
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2054
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2055 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2056 dist = 0. # total distance between GT and TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2057 ct = 0 # number of associations between GT and tracker output in each frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2058 gt = 0 # number of GT.frames
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2059 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2060 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2061 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2062 matches = {} # match[i] is the tracker track associated with GT i (using object references)
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2063 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2064 gtMatches = {a.getNum():{} for a in annotations}
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2065 toMatches = {o.getNum():{} for o in objects}
956
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2066 else:
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2067 gtMatches = None
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2068 toMatches = None
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2069 for t in range(firstInstant, lastInstant+1):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2070 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2071 # go through currently matched GT-TO and check if they are still matched withing matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2072 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2073 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2074 if a.existsAtInstant(t) and matches[a].existsAtInstant(t):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2075 d = a.matches(matches[a], t, matchingDistance)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2076 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2077 dist += d
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2078 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2079 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2080 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2081 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2082 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2083 del matches[a]
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2084
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2085 # match all unmatched GT-TO
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2086 matchedGTs = list(matches.keys())
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2087 matchedTOs = list(matches.values())
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2088 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2089 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2090 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2091 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2092 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2093 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2094 for a in unmatchedGTs:
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2095 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs])
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2096 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2097 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2098 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2099 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2100 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2101 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2102 if debug:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2103 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.items()]))
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2104 if returnMatches:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2105 for a,o in matches.items():
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2106 gtMatches[a.getNum()][t] = o.getNum()
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2107 toMatches[o.getNum()][t] = a.getNum()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
2108
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2109 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2110 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2111 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2112 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2113 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2114 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2115 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2116 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2117 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2118 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2119 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2120 mismatches.append(a)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2121 elif matches[a] in list(previousMatches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2122 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2123 for a in previousMatches:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2124 if a not in matches and previousMatches[a] in list(matches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2125 mismatches.append(previousMatches[a])
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2126 if debug:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2127 for mm in set(mismatches):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
2128 print('{} {}'.format(type(mm), mm.getNum()))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2129 # some object mismatches may appear twice
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2130 mme += len(set(mismatches))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
2131
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2132 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2133 motp = dist/ct
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2134 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2135 motp = None
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2136 if gt > 0:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2137 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2138 else:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2139 mota = None
956
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2140 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2141
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2142 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
2143 '''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
2144 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
2145 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2146 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
2147 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
2148 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2149
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2150
1016
9b53be469a36 getting ready for pull request
Wendlasida
parents: 1014
diff changeset
2151 if __name__ == "__main__":
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2152 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2153 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2154 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2155 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2156 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2157 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2158 #doctest.testfile("example.txt")
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2159 if shapelyAvailable:
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2160 suite = doctest.DocFileSuite('tests/moving_shapely.txt')
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2161 unittest.TextTestRunner().run(suite)