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annotate python/moving.py @ 152:74b1fc68d4df

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re-organized code to avoid cyclic python module dependencies
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 06 Sep 2011 18:44:23 -0400
parents ad21db62b785
children d3f6de6c3918
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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, hypot;
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8
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9 #from shapely.geometry import Polygon
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10
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11 __metaclass__ = type
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12
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13 class Interval:
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14 '''Generic Interval'''
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15 def __init__(self, first=0, last=-1, revert = False):
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16 'Warning, do not revert if last<first, it contradicts the definition of empty'
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17 if revert and last<first:
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18 self.first=last
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19 self.last=first
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20 else:
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21 self.first=first
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22 self.last=last
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23
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24 def __str__(self):
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25 return '[{0}, {1}]'.format(self.first, self.last)
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26
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27 def __repr__(self):
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28 return self.__str__()
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30 def empty(self):
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31 return self.first > self.last
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33 def length(self):
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34 '''Returns the length of the interval'''
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35 return float(max(0,self.last-self.first))
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37 def equal(self, i2):
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38 return self.first==i2.first and self.last == i2.last
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39
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40 def getList(self):
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41 return [self.first, self.last]
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43 def contains(self, instant):
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44 return (self.first<=instant and self.last>=instant)
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46 def inside(self, interval2):
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47 'indicates if the temporal interval of self is comprised in interval2'
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48 return (self.first >= interval2.first) and (self.last <= interval2.last)
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50 def union(self, interval2):
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51 '''Largest interval comprising self and interval2'''
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52 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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53
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54 def intersection(self, interval2):
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55 '''Largest interval comprised in both self and interval2'''
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56 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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58
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59 class TimeInterval(Interval):
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60 '''Temporal interval based on frame numbers (hence the modified length method)
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61 may be modified directly by setting first and last'''
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62
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63 def __init__(self, first=0, last=-1):
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64 Interval.__init__(self, first, last, False)
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65
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66 def __getitem__(self, i):
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67 if not self.empty():
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68 return self.first+i
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69
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70 def __iter__(self):
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71 self.iterInstantNum = -1
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72 return self
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73
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74 def next(self):
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75 if self.iterInstantNum >= self.length()-1:
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76 raise StopIteration
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77 else:
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78 self.iterInstantNum += 1
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79 return self[self.iterInstantNum]
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80
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81 def length(self):
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82 '''Returns the length of the interval'''
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83 return float(max(0,self.last-self.first+1))
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84
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85 # class BoundingPolygon:
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86 # '''Class for a polygon bounding a set of points
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87 # with methods to create intersection, unions...
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88 # '''
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89 # We will use the polygon class of Shapely
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90
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91 class STObject:
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92 '''Class for spatio-temporal object
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93 i.e. with temporal and spatial existence
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94 (time interval and bounding polygon for positions (e.g. rectangle)).
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95 It does not mean that the object is defined
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96 for all time instants within the time interval'''
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97
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98 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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99 self.num = num
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100 self.timeInterval = timeInterval
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101 self.boundingPolygon = boundingPolygon
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102
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103 def empty(self):
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104 return self.timeInterval.empty() or not self.boudingPolygon
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105
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106 def getFirstInstant(self):
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107 return self.timeInterval.first
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108
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109 def getLastInstant(self):
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110 return self.timeInterval.last
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111
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112 def getTimeInterval(self):
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113 return self.timeInterval
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114
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115 def existsAtInstant(self, t):
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116 return self.timeInterval.contains(t)
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117
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118 def commonTimeInterval(self, obj2):
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119 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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120
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121 class Point:
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122 def __init__(self, x, y):
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123 self.x = x
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124 self.y = y
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125
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126 def __str__(self):
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127 return '(%f,%f)'%(self.x,self.y)
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128
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129 def __repr__(self):
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130 return self.__str__()
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131
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132 def __sub__(self, other):
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133 return Point(self.x-other.x, self.y-other.y)
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134
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135 def multiply(self, alpha):
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136 return Point(self.x*alpha, self.y*alpha)
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137
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138 def draw(self, options = 'o'):
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139 from matplotlib.pylab import plot
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140 plot([self.x], [self.y], options)
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141
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142 def norm2Squared(self):
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143 '''2-norm distance (Euclidean distance)'''
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144 return self.x*self.x+self.y*self.y
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145
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146 def norm2(self):
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147 '2-norm distance (Euclidean distance)'
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148 return sqrt(self.norm2Squared())
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149
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150 def aslist(self):
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151 return [self.x, self.y]
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152
98
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153 def project(self, homography):
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154 from numpy.core.multiarray import array
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155 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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156 return Point(projected[0], projected[1])
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157
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158 def inPolygon(self, poly):
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159 '''Returns if the point x, y is inside the polygon.
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160 The polygon is defined by the ordered list of points in poly
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161
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162 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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163
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164 Use points_inside_poly from matplotlib.nxutils'''
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165
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166 n = len(poly);
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167 counter = 0;
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168
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169 p1 = poly[0];
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170 for i in range(n+1):
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171 p2 = poly[i % n];
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172 if self.y > min(p1.y,p2.y):
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173 if self.y <= max(p1.y,p2.y):
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174 if self.x <= max(p1.x,p2.x):
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175 if p1.y != p2.y:
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176 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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177 if p1.x == p2.x or self.x <= xinters:
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178 counter+=1;
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179 p1=p2
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180 return (counter%2 == 1);
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181
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182
49
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183 @staticmethod
67
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184 def dot(p1, p2):
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185 'Scalar product'
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186 return p1.x*p2.x+p1.y*p2.y
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187
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188 @staticmethod
90
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189 def cross(p1, p2):
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190 'Cross product'
89
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191 return p1.x*p2.y-p1.y*p2.x
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192
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193 @staticmethod
38
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194 def distanceNorm2(p1, p2):
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195 return (p1-p2).norm2()
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196
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197 @staticmethod
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198 def plotAll(points, color='r'):
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199 from matplotlib.pyplot import scatter
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200 scatter([p.x for p in points],[p.y for p in points], c=color)
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201
152
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202 def segmentIntersection(p1, p2, p3, p4):
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203 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
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204 from numpy import matrix
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205 from numpy.linalg import linalg, det
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206
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207 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]]
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208 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]]
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209
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210 A = matrix([[dp1.y, -dp1.x],
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211 [dp2.y, -dp2.x]])
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212 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
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213 [dp2.y*p3.x-dp2.x*p3.y]])
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214
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215 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0:
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216 return None
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217 else:
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218 intersection = linalg.solve(A,B)
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219 if (utils.inBetween(p1.x, p2.x, intersection[0,0])
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220 and utils.inBetween(p3.x, p4.x, intersection[0,0])
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221 and utils.inBetween(p1.y, p2.y, intersection[1,0])
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222 and utils.inBetween(p3.y, p4.y, intersection[1,0])):
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223 return Point(intersection[0,0], intersection[1,0])
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224 else:
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225 return None
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226
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227 class Trajectory:
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228 '''Class for trajectories
22
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229 i.e. a temporal sequence of positions
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230
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231 the class is iterable.'''
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232
79
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233 def __init__(self, positions=None):
113
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234 if positions:
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235 self.positions = positions
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236 else:
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diff changeset
237 self.positions = [[],[]]
43
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238
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diff changeset
239 @staticmethod
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240 def load(line1, line2):
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diff changeset
241 return Trajectory([[float(n) for n in line1.split(' ')],
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diff changeset
242 [float(n) for n in line2.split(' ')]])
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243
16
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diff changeset
244 def __str__(self):
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245 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
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246
69
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247 def __repr__(self):
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248 return str(self)
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249
23
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250 def __getitem__(self, i):
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diff changeset
251 return Point(self.positions[0][i], self.positions[1][i])
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252
22
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diff changeset
253 def __iter__(self):
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254 self.iterInstantNum = 0
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diff changeset
255 return self
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256
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diff changeset
257 def next(self):
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diff changeset
258 if self.iterInstantNum >= self.length():
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259 raise StopIteration
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260 else:
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diff changeset
261 self.iterInstantNum += 1
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diff changeset
262 return self[self.iterInstantNum-1]
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263
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diff changeset
264 def addPositionXY(self, x, y):
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diff changeset
265 self.positions[0].append(x)
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diff changeset
266 self.positions[1].append(y)
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267
71
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diff changeset
268 def addPosition(self, p):
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diff changeset
269 self.addPositionXY(p.x, p.y)
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diff changeset
270
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diff changeset
271 def draw(self, options = ''):
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diff changeset
272 from matplotlib.pylab import plot
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diff changeset
273 plot(self.positions[0], self.positions[1], options)
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diff changeset
274
21
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diff changeset
275 def length(self):
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diff changeset
276 return len(self.positions[0])
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277
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diff changeset
278 def getXCoordinates(self):
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diff changeset
279 return self.positions[0]
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diff changeset
280
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parents: 19
diff changeset
281 def getYCoordinates(self):
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parents: 19
diff changeset
282 return self.positions[1]
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
283
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
284 def asArray(self):
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parents: 91
diff changeset
285 from numpy.core.multiarray import array
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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diff changeset
286 return array(self.positions)
21
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parents: 19
diff changeset
287
14
e7bbe8465591 homography and other utils
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parents: 13
diff changeset
288 def xBounds(self):
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parents: 13
diff changeset
289 # look for function that does min and max in one pass
21
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parents: 19
diff changeset
290 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
14
e7bbe8465591 homography and other utils
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parents: 13
diff changeset
291
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parents: 13
diff changeset
292 def yBounds(self):
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parents: 13
diff changeset
293 # look for function that does min and max in one pass
21
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
294 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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parents: 19
diff changeset
295
43
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
296 def add(self, traj2):
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parents: 41
diff changeset
297 '''Returns a new trajectory of the same length'''
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parents: 41
diff changeset
298 if self.length() != traj2.length():
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
299 print 'Trajectories of different lengths'
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parents: 41
diff changeset
300 return None
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
301 else:
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parents: 41
diff changeset
302 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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parents: 41
diff changeset
303 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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parents: 41
diff changeset
304
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
305 def subtract(self, traj2):
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parents: 41
diff changeset
306 '''Returns a new trajectory of the same length'''
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parents: 41
diff changeset
307 if self.length() != traj2.length():
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
308 print 'Trajectories of different lengths'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
309 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
310 else:
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
311 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
312 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
313
16
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parents: 14
diff changeset
314 def norm(self):
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parents: 14
diff changeset
315 '''Returns the list of the norms at each instant'''
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parents: 14
diff changeset
316 # def add(x, y): return x+y
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parents: 14
diff changeset
317 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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parents: 14
diff changeset
318 # return sqrt(sq)
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parents: 14
diff changeset
319 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
14
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parents: 13
diff changeset
320
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
321 def cumulatedDisplacement(self):
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
322 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
323 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
324 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
325 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
326 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
327
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
328 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
329 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
330
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
331 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
332 '''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
333 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
334 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
335 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
336
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
337 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
338 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
339 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
340 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
341 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
342 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
343 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
344 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
345 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
346 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
347 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
348 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
349 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
350
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
351 def getTrajectoryInInterval(self, inter):
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parents: 41
diff changeset
352 if inter.first >=0 and inter.last<= self.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
353 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
354 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
355 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
356 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
357
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
358 def getTrajectoryInPolygon(self, polygon):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
359 '''Returns the set of points inside the polygon
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
360 (array of Nx2 coordinates of the polygon vertices)'''
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
361 import matplotlib.nxutils as nx
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
362 traj = Trajectory()
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
363 result = nx.points_inside_poly(self.asArray().T, polygon)
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
364 for i in xrange(self.length()):
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
365 if result[i]:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
366 traj.addPositionXY(self.positions[0][i], self.positions[1][i])
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
367 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
368
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
369 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
Nicolas Saunier <nico@confins.net>
parents: 16
diff changeset
370
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
371 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
372 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
373 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
374
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
375 userTypeNames = ['car',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
376 'pedestrian',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
377 'twowheels',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
378 'bus'
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
379 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
380
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
381 class MovingObject(STObject):
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
382 '''Class for moving objects
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
383 i.e. with a trajectory and a geometry (volume) (constant)
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
384 and a usertype (e.g. road user)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
385 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
386
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
387 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
388 STObject.__init__(self, num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
389 self.positions = positions
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
390 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
391 self.userType = userType
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
392 # compute bounding polygon from trajectory
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
393
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
394 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
395 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
396 restricted to time interval inter'''
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
397 intersection = inter.intersection(self.getTimeInterval())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
398 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
399 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
400 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
401 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
402 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
403 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
404 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
405 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
406 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
407
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
408 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
409 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
410
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
411 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
412 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
413
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
414 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
415 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
416
49
1fb5606506ae re-arrangement
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diff changeset
417 def getSpeeds(self):
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diff changeset
418 return self.getVelocities().norm()
1fb5606506ae re-arrangement
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diff changeset
419
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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diff changeset
420 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
421 return self.positions[i]
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parents: 30
diff changeset
422
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parents: 30
diff changeset
423 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
424 return self.velocities[i]
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parents: 30
diff changeset
425
67
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diff changeset
426 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
427 return self.positions[i-self.getFirstInstant()]
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parents: 66
diff changeset
428
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diff changeset
429 def getVelocityAtInstant(self, i):
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diff changeset
430 return self.velocities[i-self.getFirstInstant()]
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diff changeset
431
21
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diff changeset
432 def getXCoordinates(self):
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diff changeset
433 return self.positions.getXCoordinates()
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parents: 19
diff changeset
434
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parents: 19
diff changeset
435 def getYCoordinates(self):
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parents: 19
diff changeset
436 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
437
25
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
438 def draw(self, options = ''):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
439 self.positions.draw(options)
22
169cd4679366 made Trajectory iterable
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parents: 21
diff changeset
440
83
41da2cdcd91c re-arranged trajectory intersections
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diff changeset
441 def getInstantsCrossingLane(self, p1, p2):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
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diff changeset
442 '''Returns the instant(s)
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parents: 54
diff changeset
443 at which the object passes from one side of the segment to the other
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parents: 54
diff changeset
444 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
445 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
446 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
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parents: 26
diff changeset
447
67
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diff changeset
448 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
449 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
450 'A positive result indicates that the road users are getting closer'
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diff changeset
451 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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diff changeset
452 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
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diff changeset
453 return Point.dot(deltap, deltav)
67
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parents: 66
diff changeset
454
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parents: 66
diff changeset
455 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
456 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
457 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
458 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
459 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
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parents: 115
diff changeset
460 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
461
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
462 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
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parents: 58
diff changeset
463 '''Colors is a PlottingPropertyValues instance'''
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
464 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
465 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
466 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
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parents: 58
diff changeset
467 obj.draw(colors.get(obj.userType))
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
468 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
469
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
470
13
30559b2cf7a9 minimal code to load UBC data
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
471 # need for a class representing the indicators, their units, how to print them in graphs...
6
597d61c1eebe minor doc update
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parents: 2
diff changeset
472 class TemporalIndicator:
597d61c1eebe minor doc update
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parents: 2
diff changeset
473 '''Class for temporal indicators
30
418b41056e6c after merge
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parents: 28
diff changeset
474 i.e. indicators that take a value at specific instants
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
475
58
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parents: 56
diff changeset
476 values should be
40e1508380ed developed indicator classes
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parents: 56
diff changeset
477 * a dict, for the values at specific time instants
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parents: 56
diff changeset
478 * or a list with a time interval object if continuous measurements
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diff changeset
479
30
418b41056e6c after merge
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parents: 28
diff changeset
480 it should have more information like name, unit'''
418b41056e6c after merge
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parents: 28
diff changeset
481
58
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diff changeset
482 def __init__(self, name, values, timeInterval=None):
30
418b41056e6c after merge
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parents: 28
diff changeset
483 self.name = name
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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diff changeset
484 self.isCosine = name.find('Cosine')
30
418b41056e6c after merge
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parents: 28
diff changeset
485 self.values = values
58
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diff changeset
486 self.timeInterval = timeInterval
69
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parents: 68
diff changeset
487 if timeInterval:
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diff changeset
488 assert len(values) == timeInterval.length()
58
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diff changeset
489
68
846fa9dc47de empty method for indicators
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diff changeset
490 def empty(self):
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diff changeset
491 return len(self.values) == 0
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diff changeset
492
69
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diff changeset
493 def __getitem__(self, i):
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parents: 68
diff changeset
494 if self.timeInterval:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
495 if self.timeInterval.contains(i):
cc192d0450b3 added full support for two implementations of indicators, with tests
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diff changeset
496 return self.values[i-self.timeInterval.first]
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diff changeset
497 else:
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parents: 68
diff changeset
498 if i in self.values.keys():
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parents: 68
diff changeset
499 return self.values[i]
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parents: 68
diff changeset
500 return None # default
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parents: 68
diff changeset
501
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diff changeset
502 def __iter__(self):
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diff changeset
503 self.iterInstantNum = 0 # index in the interval or keys of the dict
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parents: 68
diff changeset
504 return self
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parents: 68
diff changeset
505
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
506 def next(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
507 if self.iterInstantNum >= len(self.values):#(self.timeInterval and self.iterInstantNum>=self.timeInterval.length())\
cc192d0450b3 added full support for two implementations of indicators, with tests
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parents: 68
diff changeset
508 # or (self.iterInstantNum >= self.values)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
509 raise StopIteration
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
510 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
511 self.iterInstantNum += 1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
512 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
513 return self.values[self.iterInstantNum-1]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
514 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
515 return self.values.values()[self.iterInstantNum-1]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
516
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
517 def getTimeInterval(self):
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
518 if not self.timeInterval and type(self.values)==dict:
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
519 instants = self.values.keys()
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
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parents: 96
diff changeset
520 if instants:
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
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parents: 96
diff changeset
521 self.timeInterval = TimeInterval(instants[0], instants[-1])
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
522 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
523 self.timeInterval = TimeInterval()
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
524 return self.timeInterval
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
525
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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diff changeset
526 def getValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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diff changeset
527 if self.timeInterval:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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parents: 71
diff changeset
528 return self.values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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parents: 71
diff changeset
529 else:
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parents: 71
diff changeset
530 return self.values.values()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
531
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
532 def getAngleValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
533 '''if the indicator is a function of an angle,
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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parents: 71
diff changeset
534 transform it to an angle (eg cos)
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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parents: 71
diff changeset
535 (no transformation otherwise)'''
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
536 from numpy import arccos
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
537 values = self.getValues()
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
538 if self.isCosine >= 0:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
539 return [arccos(c) for c in values]
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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parents: 71
diff changeset
540 else:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
541 return values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
542
58
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parents: 56
diff changeset
543 class SeverityIndicator(TemporalIndicator):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
544 '''Class for severity indicators
40e1508380ed developed indicator classes
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parents: 56
diff changeset
545 field mostSevereIsMax is True
40e1508380ed developed indicator classes
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parents: 56
diff changeset
546 if the most severe value taken by the indicator is the maximum'''
40e1508380ed developed indicator classes
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parents: 56
diff changeset
547
67
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
548 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None):
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
549 TemporalIndicator.__init__(self, name, values, timeInterval)
58
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parents: 56
diff changeset
550 self.mostSevereIsMax = mostSevereIsMax
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
551 self.ignoredValue = ignoredValue
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
552
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
553 def getMostSevereValue(self, minNInstants=1):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
554 from matplotlib.mlab import find
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
555 from numpy.core.multiarray import array
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
556 from numpy.core.fromnumeric import mean
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
557 values = array(self.values.values())
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
558 if self.ignoredValue:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
559 indices = find(values != self.ignoredValue)
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
560 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
561 indices = range(len(values))
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
562 if len(indices) >= minNInstants:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
563 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
564 return mean(values[:minNInstants])
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
565 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
566 return None
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
567
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
568 def indicatorMap(indicatorValues, trajectory, squareSize):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
569 '''Returns a dictionary
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
570 with keys for the indices of the cells (squares)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
571 in which the trajectory positions are located
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
572 at which the indicator values are attached
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
573
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
574 ex: speeds and trajectory'''
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
575
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
576 from numpy import floor, mean
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
577 assert len(indicatorValues) == trajectory.length()
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
578 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
579 for k in xrange(trajectory.length()):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
580 p = trajectory[k]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
581 i = floor(p.x/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
582 j = floor(p.y/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
583 if indicatorMap.has_key((i,j)):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
584 indicatorMap[(i,j)].append(indicatorValues[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
585 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
586 indicatorMap[(i,j)] = [indicatorValues[k]]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
587 for k in indicatorMap.keys():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
588 indicatorMap[k] = mean(indicatorMap[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
589 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
590
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
591 def indicatorMapFromPolygon(value, polygon, squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
592 '''Fills an indicator map with the value within the polygon
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
593 (array of Nx2 coordinates of the polygon vertices)'''
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
594 import matplotlib.nxutils as nx
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
595 from numpy.core.multiarray import array, arange
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
596 from numpy import floor
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
597
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
598 points = []
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
599 for x in arange(min(polygon[:,0])+squareSize/2, max(polygon[:,0]), squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
600 for y in arange(min(polygon[:,1])+squareSize/2, max(polygon[:,1]), squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
601 points.append([x,y])
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
602 inside = nx.points_inside_poly(array(points), polygon)
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
603 indicatorMap = {}
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
604 for i in xrange(len(inside)):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
605 if inside[i]:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
606 indicatorMap[(floor(points[i][0]/squareSize), floor(points[i][1]/squareSize))] = 0
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
607 return indicatorMap
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
608
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
609 def indicatorMapFromAxis(value, limits, squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
610 '''axis = [xmin, xmax, ymin, ymax] '''
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
611 from numpy.core.multiarray import arange
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
612 from numpy import floor
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
613 indicatorMap = {}
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
614 for x in arange(limits[0], limits[1], squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
615 for y in arange(limits[2], limits[3], squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
616 indicatorMap[(floor(x/squareSize), floor(y/squareSize))] = value
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
617 return indicatorMap
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
618
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
619 def combineIndicatorMaps(maps, squareSize, combinationFunction):
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
620 '''Puts many indicator maps together
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
621 (averaging the values in each cell
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
622 if more than one maps has a value)'''
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
623 #from numpy import mean
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
624 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
625 for m in maps:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
626 for k,v in m.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
627 if indicatorMap.has_key(k):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
628 indicatorMap[k].append(v)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
629 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
630 indicatorMap[k] = [v]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
631 for k in indicatorMap.keys():
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
632 indicatorMap[k] = combinationFunction(indicatorMap[k])
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
633 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
634
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
635 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
636 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
637 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
638 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
639 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
640 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
641 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
642 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
643