Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 537:6c264b914846
work on classification parameters
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 02 Jul 2014 17:43:16 -0400 |
parents | f012a8ad7a0e |
children | a3add9f751ef 6c0923f1ce68 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils |
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5 import cvutils |
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6 |
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7 from math import sqrt |
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8 from numpy import median |
16 | 9 |
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10 try: |
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11 from shapely.geometry import Polygon, Point as shapelyPoint |
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12 from shapely.prepared import prep |
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13 shapelyAvailable = True |
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14 except ImportError: |
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15 print('Shapely library could not be loaded') |
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16 shapelyAvailable = False |
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17 |
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18 __metaclass__ = type |
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19 |
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20 class Interval(object): |
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21 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 22 def __init__(self, first=0, last=-1, revert = False): |
23 if revert and last<first: | |
24 self.first=last | |
25 self.last=first | |
26 else: | |
27 self.first=first | |
28 self.last=last | |
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29 |
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30 def __str__(self): |
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31 return '[{0}, {1}]'.format(self.first, self.last) |
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32 |
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33 def __repr__(self): |
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34 return self.__str__() |
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35 |
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36 def empty(self): |
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37 return self.first > self.last |
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38 |
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39 def center(self): |
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40 return (self.first+self.last)/2. |
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41 |
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42 def length(self): |
43
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43 '''Returns the length of the interval''' |
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44 return float(max(0,self.last-self.first)) |
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45 |
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46 def equal(self, i2): |
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47 return self.first==i2.first and self.last == i2.last |
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48 |
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49 def getList(self): |
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50 return [self.first, self.last] |
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51 |
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52 def contains(self, instant): |
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53 return (self.first<=instant and self.last>=instant) |
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54 |
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55 def inside(self, interval2): |
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56 '''Indicates if the temporal interval of self is comprised in interval2''' |
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57 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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58 |
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59 @classmethod |
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60 def union(cls, interval1, interval2): |
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61 '''Smallest interval comprising self and interval2''' |
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62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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63 |
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64 @classmethod |
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65 def intersection(cls, interval1, interval2): |
104
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66 '''Largest interval comprised in both self and interval2''' |
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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68 |
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69 def distance(self, interval2): |
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70 if not Interval.intersection(self, interval2).empty(): |
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71 return 0 |
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72 elif self.first > interval2.last: |
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73 return self.first - interval2.last |
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74 elif self.last < interval2.first: |
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75 return interval2.first - self.last |
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76 else: |
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77 return None |
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78 |
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79 |
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80 def unionIntervals(intervals): |
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81 'returns the smallest interval containing all intervals' |
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82 inter = intervals[0] |
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83 for i in intervals[1:]: |
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84 inter = Interval.union(inter, i) |
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85 return inter |
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86 |
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87 |
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88 class TimeInterval(Interval): |
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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90 |
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91 For example: based on frame numbers (hence the modified length method) |
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92 It may be modified directly by setting first and last''' |
26 | 93 |
94 def __init__(self, first=0, last=-1): | |
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95 super(TimeInterval, self).__init__(first, last, False) |
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96 |
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97 @staticmethod |
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98 def fromInterval(inter): |
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99 return TimeInterval(inter.first, inter.last) |
26 | 100 |
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101 def __getitem__(self, i): |
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102 if not self.empty(): |
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103 if isinstance(i, int): |
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104 return self.first+i |
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105 else: |
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106 raise TypeError, "Invalid argument type." |
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107 #elif isinstance( key, slice ): |
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108 |
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109 def __iter__(self): |
107
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110 self.iterInstantNum = -1 |
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111 return self |
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112 |
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113 def next(self): |
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114 if self.iterInstantNum >= self.length()-1: |
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115 raise StopIteration |
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116 else: |
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117 self.iterInstantNum += 1 |
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118 return self[self.iterInstantNum] |
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119 |
26 | 120 def length(self): |
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121 '''Returns the length of the interval''' |
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122 return float(max(0,self.last-self.first+1)) |
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123 |
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124 # class BoundingPolygon: |
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125 # '''Class for a polygon bounding a set of points |
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126 # with methods to create intersection, unions... |
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127 # ''' |
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128 # We will use the polygon class of Shapely |
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129 |
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130 class STObject(object): |
288
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131 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 132 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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133 |
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134 It may not mean that the object is defined |
6 | 135 for all time instants within the time interval''' |
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136 |
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137 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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138 self.num = num |
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139 self.timeInterval = timeInterval |
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140 self.boundingPolygon = boundingPolygon |
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141 |
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142 def empty(self): |
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143 return self.timeInterval.empty() or not self.boudingPolygon |
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144 |
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145 def getNum(self): |
211 | 146 return self.num |
147 | |
2
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148 def getFirstInstant(self): |
40
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149 return self.timeInterval.first |
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150 |
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151 def getLastInstant(self): |
40
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152 return self.timeInterval.last |
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153 |
43
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154 def getTimeInterval(self): |
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155 return self.timeInterval |
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156 |
108
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157 def existsAtInstant(self, t): |
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158 return self.timeInterval.contains(t) |
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159 |
43
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160 def commonTimeInterval(self, obj2): |
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161 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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162 |
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163 class Point(object): |
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164 def __init__(self, x, y): |
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165 self.x = x |
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166 self.y = y |
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167 |
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168 def __str__(self): |
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169 return '(%f,%f)'%(self.x,self.y) |
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170 |
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171 def __repr__(self): |
98
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172 return self.__str__() |
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173 |
184
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174 def __add__(self, other): |
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175 return Point(self.x+other.x, self.y+other.y) |
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176 |
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177 def __sub__(self, other): |
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178 return Point(self.x-other.x, self.y-other.y) |
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179 |
451
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180 def __neg__(self): |
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181 return Point(-self.x, -self.y) |
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182 |
105
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183 def multiply(self, alpha): |
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184 return Point(self.x*alpha, self.y*alpha) |
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185 |
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186 def plot(self, options = 'o', **kwargs): |
41 | 187 from matplotlib.pylab import plot |
211 | 188 plot([self.x], [self.y], options, **kwargs) |
41 | 189 |
38
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190 def norm2Squared(self): |
43
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191 '''2-norm distance (Euclidean distance)''' |
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192 return self.x*self.x+self.y*self.y |
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193 |
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194 def norm2(self): |
288
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195 '''2-norm distance (Euclidean distance)''' |
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196 return sqrt(self.norm2Squared()) |
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197 |
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198 def norm1(self): |
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199 return abs(self.x)+abs(self.y) |
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200 |
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201 def normMax(self): |
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202 return max(abs(self.x),abs(self.y)) |
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203 |
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204 def aslist(self): |
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205 return [self.x, self.y] |
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206 |
203
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207 def astuple(self): |
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208 return (self.x, self.y) |
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209 |
223
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210 def asint(self): |
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211 return Point(int(self.x), int(self.y)) |
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212 |
372
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213 if shapelyAvailable: |
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214 def asShapely(self): |
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215 return shapelyPoint(self.x, self.y) |
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216 |
98
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217 def project(self, homography): |
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218 from numpy.core.multiarray import array |
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219 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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220 return Point(projected[0], projected[1]) |
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221 |
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222 def inPolygonNoShapely(self, polygon): |
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223 '''Indicates if the point x, y is inside the polygon |
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224 (array of Nx2 coordinates of the polygon vertices) |
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225 |
92
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226 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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227 |
372
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228 Use Polygon.contains if Shapely is installed''' |
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229 |
372
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230 n = polygon.shape[0]; |
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231 counter = 0; |
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232 |
372
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233 p1 = polygon[0,:]; |
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234 for i in range(n+1): |
372
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235 p2 = polygon[i % n,:]; |
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236 if self.y > min(p1[1],p2[1]): |
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237 if self.y <= max(p1[1],p2[1]): |
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238 if self.x <= max(p1[0],p2[0]): |
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239 if p1[1] != p2[1]: |
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240 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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241 if p1[0] == p2[0] or self.x <= xinters: |
79
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242 counter+=1; |
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243 p1=p2 |
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244 return (counter%2 == 1); |
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245 |
49 | 246 @staticmethod |
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247 def dot(p1, p2): |
89
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248 'Scalar product' |
67
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249 return p1.x*p2.x+p1.y*p2.y |
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250 |
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251 @staticmethod |
90
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252 def cross(p1, p2): |
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253 'Cross product' |
89
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254 return p1.x*p2.y-p1.y*p2.x |
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255 |
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256 @staticmethod |
378
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257 def cosine(p1, p2): |
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258 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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259 |
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260 @staticmethod |
38
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261 def distanceNorm2(p1, p2): |
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262 return (p1-p2).norm2() |
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263 |
64
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264 @staticmethod |
357
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265 def plotAll(points, **kwargs): |
64
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266 from matplotlib.pyplot import scatter |
357
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267 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
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268 |
378
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269 def similarOrientation(self, refDirection, cosineThreshold): |
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270 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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271 return Point.cosine(self, refDirection) >= cosineThreshold |
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272 |
464
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273 @staticmethod |
484
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274 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
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275 '''Computes exact time to collision with a distance threshold |
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276 The unknown of the equation is the time to reach the intersection |
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277 between the relative trajectory of one road user |
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278 and the circle of radius collisionThreshold around the other road user''' |
464
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279 from math import sqrt |
504
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280 dv = v1-v2 |
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281 dp = p1-p2 |
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282 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
516
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283 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
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284 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
464
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285 |
504
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286 delta = b**2 - 4*a*c |
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287 if delta >= 0: |
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288 deltaRoot = sqrt(delta) |
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|
289 ttc1 = (-b + deltaRoot)/(2*a) |
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|
290 ttc2 = (-b - deltaRoot)/(2*a) |
464
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|
291 if ttc1 >= 0 and ttc2 >= 0: |
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changeset
|
292 ttc = min(ttc1,ttc2) |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
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|
293 elif ttc1 >= 0: |
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|
294 ttc = ttc1 |
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|
295 elif ttc2 >= 0: |
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|
296 ttc = ttc2 |
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|
297 else: # ttc1 < 0 and ttc2 < 0: |
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|
298 ttc = None |
464
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|
299 else: |
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|
300 ttc = None |
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301 return ttc |
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302 |
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|
303 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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|
304 if shapelyAvailable: |
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diff
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|
305 def pointsInPolygon(points, polygon): |
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diff
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|
306 '''Optimized tests of a series of points within (Shapely) polygon ''' |
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diff
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|
307 prepared_polygon = prep(polygon) |
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diff
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|
308 return filter(prepared_polygon.contains, points) |
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diff
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|
309 |
349eb1e09f45
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diff
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|
310 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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288
diff
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|
311 class NormAngle(object): |
288
e0d41c7f53d4
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284
diff
changeset
|
312 '''Alternate encoding of a point, by its norm and orientation''' |
245
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|
313 |
250
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diff
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|
314 def __init__(self, norm, angle): |
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diff
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|
315 self.norm = norm |
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diff
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|
316 self.angle = angle |
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diff
changeset
|
317 |
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diff
changeset
|
318 @staticmethod |
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diff
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|
319 def fromPoint(p): |
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diff
changeset
|
320 from math import atan2 |
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diff
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|
321 norm = p.norm2() |
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diff
changeset
|
322 if norm > 0: |
259
8ab76b95ee72
added code to save collision points and crossing zones in txt files
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258
diff
changeset
|
323 angle = atan2(p.y, p.x) |
339 | 324 else: |
325 angle = 0. | |
250
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diff
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|
326 return NormAngle(norm, angle) |
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diff
changeset
|
327 |
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diff
changeset
|
328 def __add__(self, other): |
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diff
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|
329 'a norm cannot become negative' |
255
13ec22bec5d4
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diff
changeset
|
330 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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diff
changeset
|
331 |
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diff
changeset
|
332 def getPoint(self): |
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diff
changeset
|
333 from math import cos, sin |
255
13ec22bec5d4
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diff
changeset
|
334 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
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diff
changeset
|
335 |
59f547aebaac
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diff
changeset
|
336 |
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diff
changeset
|
337 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
bd8ab323c198
corrected issue with predictPosiont static method
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diff
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|
338 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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diff
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|
339 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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|
340 |
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|
341 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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diff
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|
342 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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diff
changeset
|
343 speedOrientation is the other encoding of velocity, (speed, orientation) |
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diff
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|
344 speedOrientation and control are NormAngle''' |
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diff
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|
345 predictedSpeedTheta = speedOrientation+control |
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diff
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|
346 if maxSpeed: |
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diff
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|
347 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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diff
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|
348 predictedPosition = position+predictedSpeedTheta.getPoint() |
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diff
changeset
|
349 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
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diff
changeset
|
350 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
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243
diff
changeset
|
351 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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288
diff
changeset
|
352 class FlowVector(object): |
184
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diff
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|
353 '''Class to represent 4-D flow vectors, |
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354 ie a position and a velocity''' |
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355 def __init__(self, position, velocity): |
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356 'position and velocity should be Point instances' |
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|
357 self.position = position |
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|
358 self.velocity = velocity |
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diff
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|
359 |
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|
360 def __add__(self, other): |
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361 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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362 |
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363 def multiply(self, alpha): |
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364 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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365 |
515
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366 def plot(self, options = '', **kwargs): |
184
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367 from matplotlib.pylab import plot |
211 | 368 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
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369 self.position.plot(options+'x', **kwargs) |
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370 |
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371 @staticmethod |
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372 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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373 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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374 |
359
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375 def intersection(p1, p2, dp1, dp2): |
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376 '''Returns the intersection point between the two lines |
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377 defined by the respective vectors (dp) and origin points (p)''' |
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378 from numpy import matrix |
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379 from numpy.linalg import linalg |
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380 A = matrix([[dp1.y, -dp1.x], |
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381 [dp2.y, -dp2.x]]) |
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382 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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383 [dp2.y*p2.x-dp2.x*p2.y]]) |
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384 |
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385 if linalg.det(A) == 0: |
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386 return None |
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387 else: |
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388 intersection = linalg.solve(A,B) |
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389 return Point(intersection[0,0], intersection[1,0]) |
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390 |
152
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391 def segmentIntersection(p1, p2, p3, p4): |
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392 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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393 |
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394 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
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395 return None |
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396 else: |
359
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397 dp1 = p2-p1 |
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398 dp3 = p4-p3 |
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399 inter = intersection(p1, p3, dp1, dp3) |
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400 if (inter != None |
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401 and utils.inBetween(p1.x, p2.x, inter.x) |
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402 and utils.inBetween(p3.x, p4.x, inter.x) |
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403 and utils.inBetween(p1.y, p2.y, inter.y) |
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404 and utils.inBetween(p3.y, p4.y, inter.y)): |
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405 return inter |
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406 else: |
258
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407 return None |
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408 |
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409 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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410 |
290
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411 class Trajectory(object): |
288
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412 '''Class for trajectories: temporal sequence of positions |
22 | 413 |
288
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414 The class is iterable''' |
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415 |
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416 def __init__(self, positions=None): |
331
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417 if positions != None: |
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418 self.positions = positions |
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419 else: |
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420 self.positions = [[],[]] |
43
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421 |
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422 @staticmethod |
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423 def load(line1, line2): |
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424 return Trajectory([[float(n) for n in line1.split(' ')], |
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425 [float(n) for n in line2.split(' ')]]) |
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426 |
256
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427 @staticmethod |
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428 def fromPointList(points): |
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429 t = Trajectory() |
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430 for p in points: |
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431 t.addPosition(p) |
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432 return t |
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433 |
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434 def __len__(self): |
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435 return len(self.positions[0]) |
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436 |
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437 def length(self): |
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438 return self.__len__() |
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439 |
526
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440 def __getitem__(self, i): |
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441 if isinstance(i, int): |
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442 return Point(self.positions[0][i], self.positions[1][i]) |
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443 else: |
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444 raise TypeError, "Invalid argument type." |
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445 #elif isinstance( key, slice ): |
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446 |
16 | 447 def __str__(self): |
39 | 448 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 449 |
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450 def __repr__(self): |
526
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451 return self.__str__() |
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452 |
22 | 453 def __iter__(self): |
454 self.iterInstantNum = 0 | |
455 return self | |
456 | |
457 def next(self): | |
458 if self.iterInstantNum >= self.length(): | |
459 raise StopIteration | |
460 else: | |
461 self.iterInstantNum += 1 | |
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462 return self[self.iterInstantNum-1] |
22 | 463 |
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464 def setPositionXY(self, i, x, y): |
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465 if i < self.__len__(): |
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466 self.positions[0][i] = x |
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467 self.positions[1][i] = y |
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468 |
327
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469 def setPosition(self, i, p): |
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470 self.setPositionXY(i, p.x, p.y) |
284
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471 |
71
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472 def addPositionXY(self, x, y): |
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473 self.positions[0].append(x) |
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474 self.positions[1].append(y) |
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475 |
71
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476 def addPosition(self, p): |
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477 self.addPositionXY(p.x, p.y) |
182
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478 |
343
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479 def duplicateLastPosition(self): |
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480 self.positions[0].append(self.positions[0][-1]) |
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481 self.positions[1].append(self.positions[1][-1]) |
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482 |
182
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483 @staticmethod |
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diff
changeset
|
484 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
7
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loading shell objects from NGSIM works
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485 from matplotlib.pylab import plot |
203
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486 if lastCoordinate == None: |
270
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diff
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487 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
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488 elif 0 <= lastCoordinate <= len(positions[0]): |
270
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489 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
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490 if withOrigin: |
211 | 491 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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492 |
203
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493 def project(self, homography): |
318 | 494 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
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495 |
515
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|
496 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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497 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
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498 |
515
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diff
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|
499 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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500 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
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501 |
515
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502 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
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503 from matplotlib.pylab import plot |
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504 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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505 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
515
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diff
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|
506 Trajectory._plot(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
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started implementation of TimeInterval and Spatio-temporal object
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507 |
21
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508 def getXCoordinates(self): |
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509 return self.positions[0] |
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510 |
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511 def getYCoordinates(self): |
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512 return self.positions[1] |
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diff
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513 |
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514 def asArray(self): |
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515 from numpy.core.multiarray import array |
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|
516 return array(self.positions) |
21
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517 |
14
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518 def xBounds(self): |
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519 # look for function that does min and max in one pass |
258
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diff
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520 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
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521 |
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522 def yBounds(self): |
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523 # look for function that does min and max in one pass |
258
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524 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
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diff
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|
525 |
43
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diff
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526 def add(self, traj2): |
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parents:
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diff
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527 '''Returns a new trajectory of the same length''' |
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methods for trajectories and objects
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528 if self.length() != traj2.length(): |
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diff
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529 print 'Trajectories of different lengths' |
6d11d9e7ad4e
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|
530 return None |
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methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
531 else: |
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diff
changeset
|
532 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
533 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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parents:
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diff
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|
534 |
6d11d9e7ad4e
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diff
changeset
|
535 def subtract(self, traj2): |
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parents:
41
diff
changeset
|
536 '''Returns a new trajectory of the same length''' |
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diff
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|
537 if self.length() != traj2.length(): |
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methods for trajectories and objects
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diff
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|
538 print 'Trajectories of different lengths' |
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methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
539 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
540 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
541 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
|
542 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
6d11d9e7ad4e
methods for trajectories and objects
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41
diff
changeset
|
543 |
339 | 544 def differentiate(self): |
545 diff = Trajectory() | |
546 for i in xrange(1, self.length()): | |
547 diff.addPosition(self[i]-self[i-1]) | |
548 return diff | |
549 | |
16 | 550 def norm(self): |
551 '''Returns the list of the norms at each instant''' | |
552 # def add(x, y): return x+y | |
553 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
554 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
555 from numpy import hypot |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
556 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
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|
557 |
49 | 558 def cumulatedDisplacement(self): |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
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parents:
90
diff
changeset
|
559 'Returns the sum of the distances between each successive point' |
49 | 560 displacement = 0 |
561 for i in xrange(self.length()-1): | |
562 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
563 return displacement | |
564 | |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
565 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
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parents:
379
diff
changeset
|
566 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity) |
378
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
567 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
|
568 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
569 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
570 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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377
diff
changeset
|
571 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
572 count += 1 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
573 if count > lengthThreshold: |
378
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
574 return True |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
575 return False |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
576 |
49 | 577 def wiggliness(self): |
578 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
579 | |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
580 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
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parents:
79
diff
changeset
|
581 '''Returns a list of the indices at which the trajectory |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
582 intersects with the segment of extremities p1 and p2 |
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
583 the list is empty if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
584 indices = [] |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
585 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
586 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
587 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
588 q2=self.__getitem__(i+1) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
589 p = utils.segmentIntersection(q1, q2, p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
590 if p: |
41da2cdcd91c
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
591 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
592 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
593 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
594 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
595 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
596 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
597 indices.append(i+ratio) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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79
diff
changeset
|
598 return indices |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
599 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
600 def getTrajectoryInInterval(self, inter): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
601 if inter.first >=0 and inter.last<= self.length(): |
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
602 return Trajectory([self.positions[0][inter.first:inter.last], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
603 self.positions[1][inter.first:inter.last]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
604 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
605 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
606 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
607 def getTrajectoryInPolygonNoShapely(self, polygon): |
349eb1e09f45
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parents:
369
diff
changeset
|
608 '''Returns the trajectory built with the set of points inside the polygon |
92
a5ef9e40688e
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parents:
91
diff
changeset
|
609 (array of Nx2 coordinates of the polygon vertices)''' |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
610 traj = Trajectory() |
372
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diff
changeset
|
611 for p in self: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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369
diff
changeset
|
612 if p.inPolygonNoShapely(polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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369
diff
changeset
|
613 traj.addPosition(p) |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
614 return traj |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
615 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
616 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
|
617 def getTrajectoryInPolygon(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
618 '''Returns the trajectory built with the set of points inside the (shapely) polygon''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
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diff
changeset
|
619 traj = Trajectory() |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
620 points = [p.asShapely() for p in self] |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
621 for p in pointsInPolygon(points, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
622 traj.addPositionXY(p.x, p.y) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
623 return traj |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
624 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
625 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
626 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
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parents:
368
diff
changeset
|
627 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
628 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
629 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
630 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
631 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
632 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
633 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
634 def __init__(self, S = None, Y = None, lanes = None): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
635 if S == None or Y == None: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
636 self.positions = [[],[]] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
637 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
638 self.positions = [S,Y] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
639 if lanes == None: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
640 self.lanes = [] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
641 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
642 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
643 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
644 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
|
645 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
|
646 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
|
647 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
648 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
649 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
650 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
651 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
652 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
653 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
654 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
655 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
656 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
657 def addPosition(self, s, y, lane): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
658 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
659 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
660 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
661 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
|
662 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
663 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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parents:
318
diff
changeset
|
664 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
665 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
666 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
667 '''Returns a list of the indices at which the trajectory |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
668 goes past the curvilinear coordinate S1 |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
669 (in provided lane if lane != None) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
670 the list is empty if there is no crossing''' |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
671 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
672 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
673 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
674 q2=self.__getitem__(i+1) |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
675 if q1[0] <= S1 < q2[0] and (lane == None or (self.lanes[i] == lane and self.lanes[i+1] == lane)): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
676 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
|
677 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
678 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
679 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
680 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
681 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
682 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
683 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
|
684 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
685 '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
|
686 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
687 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
688 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
689 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
690 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
691 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
692 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
693 class MovingObject(STObject): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
694 '''Class for moving objects: a spatio-temporal object |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
695 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
696 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
697 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
698 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
699 super(MovingObject, self).__init__(num, timeInterval) |
16 | 700 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
701 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
702 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
703 self.userType = userType |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
704 self.features = [] |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
705 # compute bounding polygon from trajectory |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
706 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
707 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
708 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
709 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
|
710 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
|
711 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
712 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
713 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
714 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
715 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
716 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
717 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
718 print 'The object does not exist at '+str(inter) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
719 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
720 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
721 def length(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
722 return self.timeInterval.length() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
723 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
724 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
725 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
726 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
727 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
728 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
729 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
730 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
|
731 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
|
732 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
733 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
734 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
735 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
736 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
737 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
738 |
329
a70c205ebdd9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
739 def setUserType(self, userType): |
a70c205ebdd9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
740 self.userType = userType |
a70c205ebdd9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
741 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
742 def setFeatures(self, features): |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
743 self.features = [features[i] for i in self.featureNumbers] |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
744 |
49 | 745 def getSpeeds(self): |
746 return self.getVelocities().norm() | |
747 | |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
748 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
749 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
750 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
751 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
752 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
753 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
754 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
755 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
|
756 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
757 def getVelocityAtInstant(self, i): |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
758 return self.velocities[i-self.getFirstInstant()] |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
759 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
760 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
761 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
762 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
763 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
764 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
765 |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
766 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
767 if withFeatures: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
768 for f in self.features: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
769 f.positions.plot('r', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
770 self.positions.plot('bx-', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
771 else: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
772 self.positions.plot(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
773 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
774 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
775 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 776 |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
777 def play(self, videoFilename, homography = None): |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
778 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
779 |
378
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
780 def speedDiagnostics(self, framerate = 1., display = False): |
377 | 781 from numpy import std |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
782 from scipy.stats import scoreatpercentile |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
783 speeds = framerate*self.getSpeeds() |
377 | 784 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 785 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 | 786 if display: |
379 | 787 from matplotlib.pyplot import figure, plot, axis |
377 | 788 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
789 self.plot() |
379 | 790 axis('equal') |
377 | 791 figure(2) |
792 plot(list(self.getTimeInterval()), speeds) | |
793 | |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
794 @staticmethod |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
795 def distances(obj1, obj2, instant): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
796 from scipy.spatial.distance import cdist |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
797 positions1 = [f.getPositionAtInstant(instant).astuple() for f in obj1.features if f.existsAtInstant(instant)] |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
798 positions2 = [f.getPositionAtInstant(instant).astuple() for f in obj2.features if f.existsAtInstant(instant)] |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
799 return cdist(positions1, positions2, metric = 'euclidean') |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
800 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
801 @staticmethod |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
802 def minDistance(obj1, obj2, instant): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
803 return MovingObject.distances(obj1, obj2, instant).min() |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
804 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
805 @staticmethod |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
806 def maxDistance(obj1, obj2, instant): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
807 return MovingObject.distances(obj1, obj2, instant).max() |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
808 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
809 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
810 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
811 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
|
812 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
813 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
814 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
815 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
816 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
|
817 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
818 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
819 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
820 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
821 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
822 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
|
823 return None |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
824 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
825 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
|
826 '''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
|
827 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
|
828 empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
829 indices = self.positions.getIntersections(p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
830 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
831 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
832 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
833 '''Predicts the position of object at instant+deltaT, |
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
834 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
835 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
|
836 |
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
|
837 ### |
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
|
838 # 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
|
839 ### |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
523
diff
changeset
|
840 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, ignoreNInstantsAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
841 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
842 slow: non-motorized -> pedestrians |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
843 fast: motorized -> cars''' |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
844 if ignoreNInstantsAtEnds > 0: |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
845 speeds = self.getSpeeds()[ignoreNInstantsAtEnds:-ignoreNInstantsAtEnds] |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
846 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
|
847 speeds = self.getSpeeds() |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
848 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
849 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
850 else: |
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851 self.setUserType(userType2Num['pedestrian']) |
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852 |
524
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853 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median): |
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854 '''Classifies road user per road user type |
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855 speedProbabilities are functions return P(speed|class) |
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856 in a dictionary indexed by user type names |
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857 Returns probabilities for each class |
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858 |
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859 for simple threshold classification, simply pass non-overlapping indicator functions (membership) |
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860 e.g. def indic(x): |
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861 if abs(x-mu) < sigma: |
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862 return 1 |
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863 else: |
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864 return x''' |
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865 if not hasattr(self, aggregatedSpeed): |
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866 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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867 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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868 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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869 return userTypeProbabilities |
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870 |
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871 def initClassifyUserTypeHoGSVM(self, aggregationFunc = median): |
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872 '''Initializes the data structures for classification |
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873 |
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874 TODO? compute speed for longest feature? |
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875 Skip beginning and end of feature for speed? Offer options instead of median''' |
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876 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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877 self.userTypes = {} |
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878 |
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879 def classifyUserTypeHoGSVMAtInstant(self, img, pedBikeCarSVM, instant, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), px = 0.2, py = 0.2, pixelThreshold = 800): |
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880 '''Extract the image box around the object and |
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881 applies the SVM model on it''' |
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882 from numpy import array |
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883 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, self, instant, homography, width, height, px, py, pixelThreshold) |
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884 if len(croppedImg) > 0: # != [] |
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885 hog = array([cvutils.HOG(croppedImg)], dtype = np.float32) |
522
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886 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM == None: |
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887 self.userTypes[instant] = int(pedBikeCarSVM.predict(hog)) |
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888 elif self.aggregatedSpeed < bikeCarSpeedTreshold: |
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889 self.userTypes[instant] = int(bikeCarSVM.predict(hog)) |
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890 else: |
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891 self.userTypes[instant] = userType2Num['car'] |
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892 else: |
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893 self.userTypes[instant] = userType2Num['unknown'] |
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894 |
524
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895 def classifyUserTypeHoGSVM(self, images, pedBikeCarSVM, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), speedProbabilities = None, aggregationFunc = median, px = 0.2, py = 0.2, pixelThreshold = 800): |
522
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896 '''Agregates SVM detections in each image and returns probability |
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897 (proportion of instants with classification in each category) |
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|
898 |
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|
899 iamges is a dictionary of images indexed by instant |
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900 With default parameters, the general (ped-bike-car) classifier will be used |
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901 TODO? consider all categories?''' |
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902 if not hasattr(self, aggregatedSpeed) or not hasattr(self, userTypes): |
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|
903 print('Initilize the data structures for classification by HoG-SVM') |
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|
904 self.initClassifyUserTypeHoGSVM(aggregationFunc) |
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|
905 |
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|
906 if len(self.userTypes) != self.length(): # if classification has not been done previously |
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|
907 for t in self.getTimeInterval(): |
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|
908 if t not in self.userTypes: |
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|
909 self.classifyUserTypeHoGSVMAtInstant(images[t], pedBikeCarSVM, t, homography, width, height, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, px, py, pixelThreshold) |
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|
910 # compute P(Speed|Class) |
524
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|
911 if speedProbabilities == None: # equiprobable information from speed |
522
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|
912 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.} |
520
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|
913 else: |
522
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|
914 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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|
915 # result is P(Class|Appearance) x P(Speed|Class) |
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|
916 nInstantsUserType = {userType2Num[userTypename]: 0 for userTypename in userTypeProbabilities}# number of instants the object is classified as userTypename |
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|
917 for t in self.userTypes: |
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|
918 nInstantsUserType[self.userTypes[t]] += 1 |
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|
919 for userTypename in userTypeProbabilities: |
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920 userTypeProbabilities[userTypename] *= nInstantsUserType[userTypename] |
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|
921 # class is the user type that maximizes usertype probabilities |
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922 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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923 |
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924 def classifyUserTypeArea(self, areas, homography): |
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925 '''Classifies the object based on its location (projected to image space) |
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926 areas is a dictionary of matrix of the size of the image space |
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|
927 for different road users possible locations, indexed by road user type names |
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|
928 |
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|
929 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class) |
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|
930 skip frames at beginning/end?''' |
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|
931 print('not implemented/tested yet') |
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|
932 if not hasattr(self, projectedPositions): |
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|
933 if homography != None: |
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934 self.projectedPositions = obj.positions.project(homography) |
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935 else: |
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|
936 self.projectedPositions = obj.positions |
523
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|
937 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} |
522
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|
938 for p in self.projectedPositions: |
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939 for userTypename in areas: |
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|
940 if areas[userTypename][p.x, p.y] != 0: |
523
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|
941 possibleUserTypes[userType2Enum[userTypename]] += 1 |
522
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520
diff
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|
942 # what to do: threshold for most common type? self.setUserType() |
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diff
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943 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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517
diff
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|
944 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
945 @staticmethod |
ded58c424783
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946 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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diff
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947 'A positive result indicates that the road users are getting closer' |
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diff
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|
948 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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949 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
ad21db62b785
bug correction for cosine functions in python
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diff
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950 return Point.dot(deltap, deltav) |
67
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951 |
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|
952 @staticmethod |
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|
953 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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954 'A positive result indicates that the road users are getting closer' |
378
3805b9639647
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955 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
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956 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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0
diff
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|
957 |
62
290fceb125d2
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diff
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958 def plotRoadUsers(objects, colors): |
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959 '''Colors is a PlottingPropertyValues instance''' |
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960 from matplotlib.pyplot import figure, axis |
290fceb125d2
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|
961 figure() |
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diff
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962 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
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diff
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|
963 obj.plot(colors.get(obj.userType)) |
62
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964 axis('equal') |
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|
965 |
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|
966 |
2
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967 if __name__ == "__main__": |
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968 import doctest |
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969 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
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|
970 suite = doctest.DocFileSuite('tests/moving.txt') |
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971 #suite = doctest.DocTestSuite() |
2
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972 unittest.TextTestRunner().run(suite) |
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diff
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973 #doctest.testmod() |
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974 #doctest.testfile("example.txt") |