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annotate trafficintelligence/moving.py @ 1085:7853106677b7

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added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 25 Sep 2018 17:08:37 -0400
parents 346b41cbc81a
children 8734742c08c0
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aed8eb63cdde initial commit with non-functional python code for NGSIM
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import copy
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5 from math import sqrt, atan2, cos, sin
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6
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add667153087 updated feature tracker to opencv 3
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7 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, float32, argwhere, minimum
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8 from matplotlib.pyplot import plot, text
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9 from scipy.stats import scoreatpercentile
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10 from scipy.spatial.distance import cdist
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11 from scipy.signal import savgol_filter
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12
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13 try:
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14 from shapely.geometry import Polygon, Point as shapelyPoint
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15 from shapely.prepared import prep, PreparedGeometry
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16 shapelyAvailable = True
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17 except ImportError:
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18 print('Shapely library could not be loaded')
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19 shapelyAvailable = False
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20
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21 from trafficintelligence import utils, cvutils
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22 from trafficintelligence.base import VideoFilenameAddable
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25 class Interval(object):
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26 '''Generic interval: a subset of real numbers (not iterable)'''
26
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27 def __init__(self, first=0, last=-1, revert = False):
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28 if revert and last<first:
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29 self.first=last
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30 self.last=first
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31 else:
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32 self.first=first
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33 self.last=last
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34
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35 def __str__(self):
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36 return '{0}-{1}'.format(self.first, self.last)
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37
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38 def __repr__(self):
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39 return self.__str__()
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40
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41 def __eq__(self, other):
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42 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first))
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43
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44 def empty(self):
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45 return self.first > self.last
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46
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47 def center(self):
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48 return (self.first+self.last)/2.
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49
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50 def length(self):
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51 '''Returns the length of the interval'''
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52 return float(max(0,self.last-self.first))
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54 def equal(self, i2):
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55 return self.first==i2.first and self.last == i2.last
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56
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57 def getList(self):
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58 return [self.first, self.last]
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59
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60 def contains(self, instant):
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61 return (self.first<=instant and self.last>=instant)
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62
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63 def inside(self, interval2):
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64 '''Indicates if the temporal interval of self is comprised in interval2'''
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65 return (self.first >= interval2.first) and (self.last <= interval2.last)
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66
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67 def shift(self, offset):
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68 self.first += offset
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69 self.last += offset
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70
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71 @classmethod
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72 def parse(cls, s):
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73 if '-' in s:
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74 tmp = s.split('-')
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75 if len(tmp) == 2:
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76 return cls(int(tmp[0]), int(tmp[1])) # TODO with floats?
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77 print(s+' is not a valid representation of an interval')
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78 return None
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79
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80 @classmethod
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81 def union(cls, interval1, interval2):
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82 '''Smallest interval comprising self and interval2'''
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83 return cls(min(interval1.first, interval2.first), max(interval1.last, interval2.last))
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84
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85 @classmethod
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86 def intersection(cls, interval1, interval2):
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87 '''Largest interval comprised in both self and interval2'''
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88 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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89
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90 def distance(self, interval2):
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91 if not Interval.intersection(self, interval2).empty():
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92 return 0
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93 elif self.first > interval2.last:
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94 return self.first - interval2.last
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95 elif self.last < interval2.first:
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96 return interval2.first - self.last
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97 else:
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98 return None
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99
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100 @classmethod
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101 def unionIntervals(cls, intervals):
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102 'returns the smallest interval containing all intervals'
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103 inter = cls(intervals[0].first, intervals[0].last)
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104 for i in intervals[1:]:
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105 inter = cls.union(inter, i)
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106 return inter
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107
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108
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109 class TimeInterval(Interval):
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110 '''Temporal interval: set of instants at fixed time step, between first and last, included
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111
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112 For example: based on frame numbers (hence the modified length method)
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113 It may be modified directly by setting first and last
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114 It also (mostly) works with datetime.datetime'''
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115
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116 def __init__(self, first=0, last=-1, revert = False):
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117 super(TimeInterval, self).__init__(first, last, revert)
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118
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119 @staticmethod
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120 def fromInterval(inter):
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121 return TimeInterval(inter.first, inter.last)
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122
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123 def __getitem__(self, i):
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124 if not self.empty():
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125 if isinstance(i, int):
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126 return self.first+i
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127 else:
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128 raise TypeError("Invalid argument type.")
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129 #elif isinstance( key, slice ):
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130
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131 def __iter__(self):
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132 self.iterInstantNum = -1
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133 return self
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diff changeset
134
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
135 def __next__(self):
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
136 if self.iterInstantNum >= self.length()-1:
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
137 raise StopIteration
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
138 else:
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
139 self.iterInstantNum += 1
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
140 return self[self.iterInstantNum]
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
141
26
54d9cb0c902b generalized intervals
Nicolas Saunier <nico@confins.net>
parents: 25
diff changeset
142 def length(self):
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
143 '''Returns the length of the interval'''
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
144 return float(max(0,self.last-self.first+1))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
145
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
146 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
147 return self.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
148
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
149 # class BoundingPolygon:
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
150 # '''Class for a polygon bounding a set of points
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
151 # with methods to create intersection, unions...
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
152 # '''
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parents: 6
diff changeset
153 # We will use the polygon class of Shapely
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parents: 6
diff changeset
154
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
155 class STObject(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
156 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
157 (time interval and bounding polygon for positions (e.g. rectangle)).
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
158
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
159 It may not mean that the object is defined
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
160 for all time instants within the time interval'''
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
161
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
162 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
163 self.num = num
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
164 self.timeInterval = timeInterval
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
165 self.boundingPolygon = boundingPolygon
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
166
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
167 def empty(self):
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
168 return self.timeInterval.empty()# or not self.boudingPolygon
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
169
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
170 def getNum(self):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
171 return self.num
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
172
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
173 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
174 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
175
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
176 def length(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
177 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
178
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
179 def getFirstInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
180 return self.timeInterval.first
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
181
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
182 def getLastInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
183 return self.timeInterval.last
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
184
1001
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
185 def setFirstInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
186 if t <= self.timeInterval.last:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
187 self.timeInterval.first = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
188 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
189 print('new first instant is after last, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
190
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
191 def setLastInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
192 if t >= self.timeInterval.first:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
193 self.timeInterval.last = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
194 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
195 print('new last instant is before first, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
196
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
197 def getTimeInterval(self):
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
198 return self.timeInterval
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
199
108
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
200 def existsAtInstant(self, t):
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
201 return self.timeInterval.contains(t)
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
202
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
203 def commonTimeInterval(self, obj2):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
204 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
205
785
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
206 def shiftTimeInterval(self, offset):
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
207 self.timeInterval.shift(offset)
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
208
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
209 class Point(object):
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
210 def __init__(self, x, y):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
211 self.x = x
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
212 self.y = y
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
213
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
214 def __str__(self):
675
ab3fdff42624 corrected old format for Point.__str__
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 674
diff changeset
215 return '({:f},{:f})'.format(self.x,self.y)
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
216
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
217 def __repr__(self):
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
218 return self.__str__()
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
219
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
220 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
221 return (self.x == other.x) and (self.y == other.y)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
222
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
223 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
224 return Point(self.x+other.x, self.y+other.y)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
225
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
226 def __sub__(self, other):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
227 return Point(self.x-other.x, self.y-other.y)
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
228
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
229 def __neg__(self):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
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parents: 411
diff changeset
230 return Point(-self.x, -self.y)
575
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
231
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
232 def __getitem__(self, i):
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
233 if i == 0:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
234 return self.x
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
235 elif i == 1:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
236 return self.y
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
237 else:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
238 raise IndexError()
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
239
690
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
240 def orthogonal(self, clockwise = True):
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
241 'Returns the orthogonal vector'
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
242 if clockwise:
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
243 return Point(self.y, -self.x)
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
244 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
245 return Point(-self.y, self.x)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
246
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
247 def projectLocal(self, v, clockwise = True):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
248 'Projects point projected on v, v.orthogonal()'
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
249 e1 = v/v.norm2()
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
250 e2 = e1.orthogonal(clockwise)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
251 return Point(Point.dot(self, e1), Point.doc(self, e2))
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
252
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
253 def rotate(self, theta):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
254 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta))
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
255
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
256 def __mul__(self, alpha):
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
257 'Warning, returns a new Point'
105
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 104
diff changeset
258 return Point(self.x*alpha, self.y*alpha)
9844c69d8fa2 added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents: 104
diff changeset
259
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
260 def divide(self, alpha):
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
261 'Warning, returns a new Point'
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
262 return Point(self.x/alpha, self.y/alpha)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
263
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
264 def plot(self, options = 'o', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
265 plot([self.x], [self.y], options, **kwargs)
41
eb78c6edc0c8 added drawing for Point
Nicolas Saunier <nico@confins.net>
parents: 40
diff changeset
266
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
267 @staticmethod
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
268 def plotSegment(p1, p2, options = 'o', **kwargs):
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
269 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs)
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
270
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
271 def angle(self):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
272 return atan2(self.y, self.x)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
273
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
274 def norm2Squared(self):
43
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
275 '''2-norm distance (Euclidean distance)'''
567
072cedc3f33d first integration of curvilinear transformation from Paul
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parents: 562
diff changeset
276 return self.x**2+self.y**2
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
277
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
278 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
279 '''2-norm distance (Euclidean distance)'''
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
280 return sqrt(self.norm2Squared())
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
281
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
282 def norm1(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
283 return abs(self.x)+abs(self.y)
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
285 def normMax(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
286 return max(abs(self.x),abs(self.y))
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
287
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
288 def aslist(self):
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
289 return [self.x, self.y]
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
290
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
291 def astuple(self):
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
292 return (self.x, self.y)
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
293
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
294 def asint(self):
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
295 return Point(int(self.x), int(self.y))
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
296
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
297 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
298 def asShapely(self):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
299 return shapelyPoint(self.x, self.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
300
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
301 def homographyProject(self, homography):
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
302 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography)
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
303 return Point(projected[0], projected[1])
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
304
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
305 def inPolygon(self, polygon):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
306 '''Indicates if the point x, y is inside the polygon
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parents: 369
diff changeset
307 (array of Nx2 coordinates of the polygon vertices)
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parents: 369
diff changeset
308
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
309 taken from http://www.ariel.com.au/a/python-point-int-poly.html
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
310
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
311 Use Polygon.contains if Shapely is installed'''
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
312
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
313 n = polygon.shape[0];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
314 counter = 0;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
315
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
316 p1 = polygon[0,:];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
317 for i in range(n+1):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
318 p2 = polygon[i % n,:];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
319 if self.y > min(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
320 if self.y <= max(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
321 if self.x <= max(p1[0],p2[0]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
322 if p1[1] != p2[1]:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
323 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
324 if p1[0] == p2[0] or self.x <= xinters:
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
325 counter+=1;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
326 p1=p2
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
327 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
328
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
329 @staticmethod
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
330 def fromList(p):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
331 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
332
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
333 @staticmethod
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
334 def dot(p1, p2):
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
335 'Scalar product'
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
336 return p1.x*p2.x+p1.y*p2.y
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
337
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
338 @staticmethod
90
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
339 def cross(p1, p2):
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
340 'Cross product'
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
341 return p1.x*p2.y-p1.y*p2.x
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
342
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
343 @staticmethod
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
344 def parallel(p1, p2):
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
345 return Point.cross(p1, p2) == 0.
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
346
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
347 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
348 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
349 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
350
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
351 @staticmethod
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
352 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
353 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
354
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
355 @staticmethod
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
356 def plotAll(points, **kwargs):
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
357 from matplotlib.pyplot import scatter
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
358 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
359
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
360 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
361 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
362 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
363
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
364 @staticmethod
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
365 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
366 '''Computes exact time to collision with a distance threshold
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
367 The unknown of the equation is the time to reach the intersection
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
368 between the relative trajectory of one road user
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
369 and the circle of radius collisionThreshold around the other road user'''
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
370 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
371 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
372 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2
516
bce1fe45d1b2 corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
373 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
374 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
375
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
376 delta = b**2 - 4*a*c
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
377 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
378 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
379 ttc1 = (-b + deltaRoot)/(2*a)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
380 ttc2 = (-b - deltaRoot)/(2*a)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
381 if ttc1 >= 0 and ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
382 return min(ttc1,ttc2)
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
383 elif ttc1 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
384 return ttc1
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
385 elif ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
386 return ttc2
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
387 else: # ttc1 < 0 and ttc2 < 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
388 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
389 else:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
390 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
391
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
392 @staticmethod
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
393 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
394 'Returns the middle of the segment [p1, p2]'
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
395 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
396
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
397 @staticmethod
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
398 def agg(points, aggFunc = mean):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
399 return Point(aggFunc([p.x for p in points]), aggFunc([p.y for p in points]))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
400
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
401 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
402 def pointsInPolygon(points, polygon):
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
403 '''Optimized tests of a series of points within (Shapely) polygon (not prepared)'''
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
404 if type(polygon) == PreparedGeometry:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
405 prepared_polygon = polygon
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
406 else:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
407 prepared_polygon = prep(polygon)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
408 return list(filter(prepared_polygon.contains, points))
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
409
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
410 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
411 # From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
412 def subsec_spline_dist(splines):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
413 ''' Prepare list of spline subsegments from a spline list.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
414
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
415 Output:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
416 =======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
417 ss_spline_d[spline #][mode][station]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
418
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
419 where:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
420 mode=0: incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
421 mode=1: cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
422 mode=2: cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
423 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
424 ss_spline_d = []
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
425 #Prepare subsegment distances
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
426 for spline in range(len(splines)):
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
427 ss_spline_d[spline]=[]#.append([[],[],[]])
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
428 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Incremental distance
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
429 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Cumulative distance
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
430 ss_spline_d[spline].append(zeros(len(splines[spline]))) #Cumulative distance with trailing distance
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
431 for spline_p in range(len(splines[spline])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
432 if spline_p > (len(splines[spline]) - 2):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
433 break
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
434 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
435 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p])
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
436 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
437
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
438 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
439
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
440 return ss_spline_d
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
441
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
442 def prepareSplines(splines):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
443 'Approximates slope singularity by giving some slope roundoff; account for roundoff error'
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
444 for spline in splines:
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
445 p1 = spline[0]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
446 for i in range(len(spline)-1):
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
447 p2 = spline[i+1]
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
448 if(round(p1.x, 10) == round(p2.x, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
449 p2.x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
450 if(round(p1.y, 10) == round(p2.y, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
451 p2.y += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
452 p1 = p2
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
453
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
454 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
455 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
456 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
457 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
458 if(p0x == p1x and p0y == p1y):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
459 return None
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
460 try:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
461 #Approximate slope singularity by giving some slope roundoff; account for roundoff error
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
462 # if(round(p0x, 10) == round(p1x, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
463 # p1x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
464 # if(round(p0y, 10) == round(p1y, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
465 # p1y += 0.0000000001
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
466 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
467 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
468 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
469 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
470 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
471 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
472 import pdb; pdb.set_trace()
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
473 return Point(X,Y)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
474
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
475 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5):
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
476 ''' Snap a point p to its nearest subsegment of it's nearest spline (from the list splines).
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
477 A spline is a list of points (class Point), most likely a trajectory.
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
478
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
479 Output:
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
480 =======
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
481 [spline index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
482 subsegment leading point index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
483 snapped point,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
484 subsegment distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
485 spline distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
486 orthogonal point offset]
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
487
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
488 or None
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
489 '''
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
490 minOffsetY = float('inf')
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
491 #For each spline
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
492 for splineIdx in range(len(splines)):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
493 #For each spline point index
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
494 for spline_p in range(len(splines[splineIdx])-1):
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
495 #Get closest point on spline
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
496 closestPoint = ppldb2p(p.x,p.y,splines[splineIdx][spline_p][0],splines[splineIdx][spline_p][1],splines[splineIdx][spline_p+1][0],splines[splineIdx][spline_p+1][1])
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
497 if closestPoint is None:
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
498 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(splineIdx, spline_p))
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
499 return None
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
500 # check if the projected point is in between the current segment of the alignment bounds
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
501 if utils.inBetween(splines[splineIdx][spline_p][0], splines[splineIdx][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[splineIdx][spline_p][1], splines[splineIdx][spline_p+1][1], closestPoint.y):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
502 offsetY = Point.distanceNorm2(closestPoint, p)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
503 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
504 minOffsetY = offsetY
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
505 snappedSplineIdx = splineIdx
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
506 snappedSplineLeadingPoint = spline_p
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
507 snappedPoint = Point(closestPoint.x, closestPoint.y)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
508 #Jump loop if significantly close
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
509 if offsetY < goodEnoughSplineDistance:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
510 break
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
511
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
512 #Get sub-segment distance
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
513 if minOffsetY != float('inf'):
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
514 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSplineIdx][snappedSplineLeadingPoint])
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
515 #Get cumulative alignment distance (total segment distance)
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
516 splineDistanceS = splines[snappedSplineIdx].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
517 orthogonalSplineVector = (splines[snappedSplineIdx][snappedSplineLeadingPoint+1]-splines[snappedSplineIdx][snappedSplineLeadingPoint]).orthogonal()
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
518 offsetVector = p-snappedPoint
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
519 if Point.dot(orthogonalSplineVector, offsetVector) < 0:
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
520 minOffsetY = -minOffsetY
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
521 return [snappedSplineIdx, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY]
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
522 else:
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
523 print('Offset for point {} is infinite (check with prepareSplines if some spline segments are aligned with axes)'.format(p))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
524 return None
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
525
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
526 def getXYfromSY(s, y, splineNum, splines, mode = 0):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
527 ''' Find X,Y coordinate from S,Y data.
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
528 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
529 if mode !=0 : return Real X,Y
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
530 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
531
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
532 #(buckle in, it gets ugly from here on out)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
533 ss_spline_d = subsec_spline_dist(splines)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
534
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
535 #Find subsegment
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
536 snapped_x = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
537 snapped_y = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
538 for spline_ss_index in range(len(ss_spline_d[splineNum][1])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
539 if(s < ss_spline_d[splineNum][1][spline_ss_index]):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
540 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
541 #Get normal vector and then snap
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
542 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
543 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
544 magnitude = sqrt(vector_l_x**2 + vector_l_y**2)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
545 n_vector_x = vector_l_x/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
546 n_vector_y = vector_l_y/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
547 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
548 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
549
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
550 #Real values (including orthogonal projection of y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
551 real_x = snapped_x - y*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
552 real_y = snapped_y + y*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
553 break
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
554
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
555 if mode == 0 or (not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
556 if(not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
557 snapped_x = splines[splineNum][-1][0]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
558 snapped_y = splines[splineNum][-1][1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
559 return [snapped_x,snapped_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
560 else:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
561 return [real_x,real_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
562
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
563
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
564 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
565 '''Alternate encoding of a point, by its norm and orientation'''
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
566
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
567 def __init__(self, norm, angle):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
568 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
569 self.angle = angle
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
570
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
571 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
572 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
573 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
574 if norm > 0:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
575 angle = p.angle()
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
576 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
577 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
578 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
579
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
580 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
581 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
582 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
583
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
584 def getPoint(self):
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
585 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
586
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
587
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
588 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
589 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
590 return initialVelocity + initialAcceleration.__mul__(nTimeSteps),initialPosition+initialVelocity.__mul__(nTimeSteps) + initialAcceleration.__mul__(nTimeSteps**2*0.5)
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
591
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
592 def predictPosition(position, speedOrientation, control, maxSpeed = None):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
593 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
594 speedOrientation is the other encoding of velocity, (speed, orientation)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
595 speedOrientation and control are NormAngle'''
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
596 predictedSpeedTheta = speedOrientation+control
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
597 if maxSpeed is not None:
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
598 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
599 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
600 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
601
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
602
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
603 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
604 '''Class to represent 4-D flow vectors,
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
605 ie a position and a velocity'''
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
606 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
607 'position and velocity should be Point instances'
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
608 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
609 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
610
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
611 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
612 return FlowVector(self.position+other.position, self.velocity+other.velocity)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
613
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
614 def __mul__(self, alpha):
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
615 return FlowVector(self.position.__mul__(alpha), self.velocity.__mul__(alpha))
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
616
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
617 def plot(self, options = '', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
618 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
619 self.position.plot(options+'x', **kwargs)
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
620
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
621 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
622 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
623 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
624
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
625 def intersection(p1, p2, p3, p4):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
626 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
627 http://paulbourke.net/geometry/pointlineplane/'''
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
628 dp12 = p2-p1
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
629 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
630 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y)
674
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
631 det = float(dp34.y*dp12.x-dp34.x*dp12.y)
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
632 if det == 0.:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
633 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
634 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
635 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
636 return p1+dp12.__mul__(ua)
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
637
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
638 # def intersection(p1, p2, dp1, dp2):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
639 # '''Returns the intersection point between the two lines
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
640 # defined by the respective vectors (dp) and origin points (p)'''
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
641 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
642 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
643 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
644 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
645 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
646 # [dp2.y*p2.x-dp2.x*p2.y]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
647
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
648 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
649 # return None
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
650 # else:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
651 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
652 # return Point(intersection[0,0], intersection[1,0])
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
653
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
654 def segmentIntersection(p1, p2, p3, p4):
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
655 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
656
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
657 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()):
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
658 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
659 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
660 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
661 if (inter is not None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
662 and utils.inBetween(p1.x, p2.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
663 and utils.inBetween(p3.x, p4.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
664 and utils.inBetween(p1.y, p2.y, inter.y)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
665 and utils.inBetween(p3.y, p4.y, inter.y)):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
666 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
667 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
668 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
669
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
670 def segmentLineIntersection(p1, p2, p3, p4):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
671 '''Indicates if the line going through p1 and p2 intersects inside p3, p4'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
672 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
673 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
674 return inter
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
675 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
676 return None
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
677
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
678
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
679 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
680 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
681
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
682 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
683
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
684 def __init__(self, positions=None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
685 if positions is not None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
686 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
687 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
688 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
689
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
690 @staticmethod
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
691 def generate(p, v, nPoints):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
692 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
693 p0 = Point(p.x, p.y)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
694 t.addPosition(p0)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
695 for i in range(nPoints-1):
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
696 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
697 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
698 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints])
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
699
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
700 @staticmethod
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
701 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
702 return Trajectory([[float(n) for n in line1.split(' ')],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
703 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
704
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
705 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
706 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
707 t = Trajectory()
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
708 if isinstance(points[0], list) or isinstance(points[0], tuple):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
709 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
710 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
711 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
712 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
713 t.addPosition(p)
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
714 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
715
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
716 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
717 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
718
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
719 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
720 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
721
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
722 def empty(self):
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
723 return self.__len__() == 0
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
724
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
725 def __getitem__(self, i):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
726 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
727 return Point(self.positions[0][i], self.positions[1][i])
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
728 elif isinstance(i, slice):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
729 return Trajectory([self.positions[0][i],self.positions[1][i]])
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
730 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
731 raise TypeError("Invalid argument type.")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
732
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
733 def __str__(self):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
734 return ' '.join([self.__getitem__(i).__str__() for i in range(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
735
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
736 def __repr__(self):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
737 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
738
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
739 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
740 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
741 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
742
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
743 def __next__(self):
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
744 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
745 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
746 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
747 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
748 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
749
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
750 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
751 if self.length() == other.length():
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
752 result = True
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
753 for p, po in zip(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
754 result = result and (p == po)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
755 return result
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
756 else:
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
757 return False
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
758
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
759 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
760 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
761 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
762 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
763
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
764 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
765 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
766
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
767 def addPositionXY(self, x, y):
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
768 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
769 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
770
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
771 def addPosition(self, p):
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
772 self.addPositionXY(p.x, p.y)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
773
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
774 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
775 self.positions[0].append(self.positions[0][-1])
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
776 self.positions[1].append(self.positions[1][-1])
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
777
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
778 @staticmethod
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
779 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, objNum = None, **kwargs):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
780 if lastCoordinate is None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
781 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
782 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
783 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
784 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
785 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
786 if objNum is not None:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
787 text(positions[0][0], positions[1][0], '{}'.format(objNum))
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
788
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
789 def homographyProject(self, homography):
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
790 return Trajectory(cvutils.homographyProject(array(self.positions), homography).tolist())
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
791
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
792 def newCameraProject(self, newCameraMatrix):
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
793 return Trajectory(cvutils.newCameraProject(array(self.positions), newCameraMatrix).tolist())
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
794
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
795 def plot(self, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
796 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, objNum, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
797
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
798 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
799 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, objNum, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
800
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
801 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
802 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
620
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
803 [x*nPixelsPerUnitDistance for x in self.positions[1]]]
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
804 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, objNum, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
805
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
806 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
807 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
808
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
809 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
810 return self.positions[1]
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
811
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
812 def asArray(self):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
813 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
814
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
815 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
816 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
817 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
818
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
819 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
820 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
821 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
822
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
823 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
824 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
825 if self.length() != traj2.length():
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
826 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
827 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
828 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
829 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
830 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
831
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
832 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
833 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
834 if self.length() != traj2.length():
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
835 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
836 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
837 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
838 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
839 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
840
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
841 def __mul__(self, alpha):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
842 '''Returns a new trajectory of the same length'''
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
843 return Trajectory([[alpha*x for x in self.getXCoordinates()],
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
844 [alpha*y for y in self.getYCoordinates()]])
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
845
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
846 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
847 diff = Trajectory()
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
848 for i in range(1, self.length()):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
849 diff.addPosition(self[i]-self[i-1])
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
850 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
851 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
852 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
853
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
854 def differentiateSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='interp', cval=0.0, nInstantsIgnoredAtEnds = 2):
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
855 '''Differentiates the trajectory using the Savitsky Golay filter
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
856
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
857 window_length : The length of the filter window (i.e. the number of coefficients). window_length must be a positive odd integer.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
858 polyorder : The order of the polynomial used to fit the samples. polyorder must be less than window_length.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
859 deriv : The order of the derivative to compute. This must be a nonnegative integer. The default is 0, which means to filter the data without differentiating.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
860 delta : The spacing of the samples to which the filter will be applied. This is only used if deriv > 0. Default is 1.0.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
861 axis : The axis of the array x along which the filter is to be applied. Default is -1.
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
862 mode : Must be mirror, constant, nearest, wrap or interp. This determines the type of extension to use for the padded signal to which the filter is applied. When mode is constant, the padding value is given by cval. See the Notes for more details on mirror, constant, wrap, and nearest. When the interp mode is selected (the default), no extension is used. Instead, a degree polyorder polynomial is fit to the last window_length values of the edges, and this polynomial is used to evaluate the last window_length // 2 output values.
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
863 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0.
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
864
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
865 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter'''
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
866 if removeBothEnds >=1:
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
867 pos = [self.positions[0][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds],
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
868 self.positions[1][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds]]
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
869 else:
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
870 pos = self.positions
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
871 filtered = savgol_filter(pos, window_length, polyorder, deriv, delta, axis, mode, cval)
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
872 return Trajectory(filtered)
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
873
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
874 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
875 '''Returns the list of the norms at each instant'''
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
876 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
877
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
878 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
879 '''Computes the distance from each point to the next and the cumulative distance up to the point
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
880 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
881 self.distances = []
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
882 self.cumulativeDistances = [0.]
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
883 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
884 cumulativeDistance = 0.
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
885 for i in range(self.length()-1):
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
886 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
887 self.distances.append(Point.distanceNorm2(p1,p2))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
888 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
889 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
890 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
891
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
892 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
893 '''Return the distance between points i and i+1'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
894 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
895 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
896 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
897 print('Index {} beyond trajectory length {}-1'.format(i, self.length()))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
898
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
899 def getCumulativeDistance(self, i):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
900 '''Return the cumulative distance between the beginning and point i'''
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
901 if i < self.length():
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
902 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
903 else:
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
904 print('Index {} beyond trajectory length {}'.format(i, self.length()))
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
905
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
906 def getMaxDistance(self, metric):
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
907 'Returns the maximum distance between points in the trajectory'
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
908 positions = self.getPositions().asArray().T
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
909 return cdist(positions, positions, metric = metric).max()
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
910
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
911 def getClosestPoint(self, p1, maxDist2 = None):
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
912 '''Returns the instant of the closest position in trajectory to p1 (and the point)
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
913 if maxDist is not None, will check the distance is smaller
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
914 TODO: could use cdist for different metrics'''
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
915 distances2 = []
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
916 minDist2 = float('inf')
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
917 i = -1
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
918 for p2 in self:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
919 distances2.append(Point.distanceNorm2(p1, p2))
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
920 if distances2[-1] < minDist2:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
921 minDist2 = distances2[-1]
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
922 i = len(distances2)-1
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
923 if maxDist2 is not None and minDist2 < maxDist2:
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
924 return None
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
925 else:
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
926 return i
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
927
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
928 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
929 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity)
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
930 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
931 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
932 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
933 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
934 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
935 count += 1
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
936 return count >= lengthThreshold
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
937
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
938 def wiggliness(self):
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
939 straightDistance = Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
940 if straightDistance > 0:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
941 return self.getCumulativeDistance(self.length()-1)/float(straightDistance)
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
942 else:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
943 return None
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
944
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
945 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
946 '''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
947 intersects with the segment of extremities p1 and p2
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
948 Returns an empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
949 indices = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
950 intersections = []
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
951
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
952 for i in range(self.length()-1):
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
953 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
954 q2=self.__getitem__(i+1)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
955 p = segmentIntersection(q1, q2, p1, p2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
956 if p is not None:
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
957 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
958 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
959 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
960 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
961 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
962 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
963 indices.append(i+ratio)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
964 intersections.append(p)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
965 return indices, intersections
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
966
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
967 def getLineIntersections(self, p1, p2):
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
968 '''Returns a list of the indices at which the trajectory
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
969 intersects with the line going through p1 and p2
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
970 Returns an empty list if there is no crossing'''
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
971 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
972 intersections = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
973
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
974 for i in range(self.length()-1):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
975 q1=self.__getitem__(i)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
976 q2=self.__getitem__(i+1)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
977 p = segmentLineIntersection(p1, p2, q1, q2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
978 if p is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
979 if q1.x != q2.x:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
980 ratio = (p.x-q1.x)/(q2.x-q1.x)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
981 elif q1.y != q2.y:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
982 ratio = (p.y-q1.y)/(q2.y-q1.y)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
983 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
984 ratio = 0
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
985 indices.append(i+ratio)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
986 intersections.append(p)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
987 return indices, intersections
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
988
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
989 def getTrajectoryInInterval(self, inter):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
990 'Returns all position between index inter.first and index.last (included)'
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
991 if inter.first >=0 and inter.last<= self.length():
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
992 return Trajectory([self.positions[0][inter.first:inter.last+1],
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
993 self.positions[1][inter.first:inter.last+1]])
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
994 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
995 return None
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
996
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
997 def subSample(self, step):
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
998 'Returns the positions very step'
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
999 return Trajectory([self.positions[0][::step],
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1000 self.positions[1][::step]])
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1001
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
1002 if shapelyAvailable:
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1003 def getInstantsInPolygon(self, polygon):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1004 '''Returns the list of instants at which the trajectory is in the polygon'''
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1005 instants = []
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1006 n = self.length()
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1007 for t, x, y in zip(range(n), self.positions[0], self.positions[1]):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1008 if polygon.contains(shapelyPoint(x, y)):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1009 instants.append(t)
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1010 return instants
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1011
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1012 def getTrajectoryInPolygon(self, polygon, t2 = None):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1013 '''Returns the trajectory built with the set of points inside the (shapely) polygon
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1014 The polygon could be a prepared polygon (faster) from prepared.prep
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1015
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1016 t2 is another trajectory (could be velocities)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1017 which is filtered based on the first (self) trajectory'''
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
1018 traj = Trajectory()
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1019 inPolygon = []
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1020 for x, y in zip(self.positions[0], self.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1021 inPolygon.append(polygon.contains(shapelyPoint(x, y)))
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1022 if inPolygon[-1]:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1023 traj.addPositionXY(x, y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1024 traj2 = Trajectory()
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1025 if t2 is not None:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1026 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1027 if inp:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1028 traj2.addPositionXY(x, y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1029 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1030
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1031 def proportionInPolygon(self, polygon, minProportion = 0.5):
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1032 instants = self.getInstantsInPolygon(polygon)
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1033 lengthThreshold = float(self.length())*minProportion
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1034 return len(instants) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1035 else:
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1036 def getTrajectoryInPolygon(self, polygon, t2 = None):
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1037 '''Returns the trajectory built with the set of points inside the polygon
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1038 (array of Nx2 coordinates of the polygon vertices)'''
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1039 traj = Trajectory()
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1040 inPolygon = []
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1041 for p in self:
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1042 inPolygon.append(p.inPolygon(polygon))
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1043 if inPolygon[-1]:
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1044 traj.addPosition(p)
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1045 traj2 = Trajectory()
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1046 if t2 is not None:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1047 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]):
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1048 if inp:
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1049 traj2.addPositionXY(p.x, p.y)
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1050 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1051
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1052 def proportionInPolygon(self, polygon, minProportion = 0.5):
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1053 inPolygon = [p.inPolygon(polygon) for p in self]
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1054 lengthThreshold = float(self.length())*minProportion
781
7c38250ddfc7 updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 780
diff changeset
1055 return sum(inPolygon) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1056
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1057 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1058 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1059 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1060
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1061 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1062 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1063 longitudinal coordinate is stored as first coordinate (exterior name S)
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1064 lateral coordinate is stored as second coordinate
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1065 the third "lane" coordinate is for an alignment id,
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1066 whether explicit for a list/dict of alignments,
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1067 or implicit for a road with lane numbers'''
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1068
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1069 def __init__(self, S = None, Y = None, lanes = None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1070 if S is None or Y is None or len(S) != len(Y):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1071 self.positions = [[],[]]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1072 if S is not None and Y is not None and len(S) != len(Y):
543
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
1073 print("S and Y coordinates of different lengths\nInitializing to empty lists")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1074 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1075 self.positions = [S,Y]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1076 if lanes is None or len(lanes) != self.length():
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1077 self.lanes = [None]*int(self.length())
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1078 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1079 self.lanes = lanes
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1080
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1081 @staticmethod
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1082 def generate(s, v, nPoints, lane, y = 0):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1083 '''s is initial position, v is velocity
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1084 0 in lateral coordinate by default
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1085 TODO 2D velocity for lane change?'''
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1086 S = [s]
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1087 for i in range(nPoints-1):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1088 S.append(S[-1]+v)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1089 Y = [y]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1090 lanes = [lane]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1091 return CurvilinearTrajectory(S, Y, lanes)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1092
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1093 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
1094 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
1095 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
1096 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1097 raise TypeError("Invalid argument type.")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1098 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1099
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1100 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1101 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1102
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1103 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1104 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1105
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1106 def addPositionSYL(self, s, y, lane = None):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1107 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1108 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1109
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1110 def addPosition(self, p):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1111 'Adds position in the point format for curvilinear of list with 3 values'
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1112 self.addPositionSYL(p[0], p[1], p[2])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1113
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1114 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
1115 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1116 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1117 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1118
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1119 def differentiate(self, doubleLastPosition = False):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1120 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1121 p1 = self[0]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1122 for i in range(1, self.length()):
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1123 p2 = self[i]
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1124 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1])
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1125 p1=p2
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
1126 if doubleLastPosition and self.length() > 1:
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1127 diff.addPosition(diff[-1])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1128 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1129
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1130 def getIntersections(self, S1, lane = None):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1131 '''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
1132 goes past the curvilinear coordinate S1
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1133 (in provided lane if lane is not None)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
1134 Returns an empty list if there is no crossing'''
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1135 indices = []
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1136 for i in range(self.length()-1):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1137 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1138 q2=self.__getitem__(i+1)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1139 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1140 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
1141 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1142
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1143 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1144 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1145 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1146
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1147 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
1148 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1149 '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
1150 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1151 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1152 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1153 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1154
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1155 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1156
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1157 class CarClassifier:
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1158 def predict(self, hog):
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1159 return userType2Num['car']
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1160 carClassifier = CarClassifier()
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1161
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 663
diff changeset
1162 class MovingObject(STObject, VideoFilenameAddable):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
1163 '''Class for moving objects: a spatio-temporal object
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1164 with a trajectory and a geometry (constant volume over time)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1165 and a usertype (e.g. road user) coded as a number (see userTypeNames)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1166 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1167
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1168 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
1169 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
1170 self.positions = positions
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1171 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1172 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1173 self.userType = userType
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1174 self.setNObjects(nObjects) # a feature has None for nObjects
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1175 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1176 # compute bounding polygon from trajectory
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1177
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1178 @staticmethod
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1179 def croppedTimeInterval(obj, value, after = True):
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1180 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant())
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1181 if obj.positions is not None :
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1182 newPositions = obj.positions[slice(newTimeInterval.first, newTimeInterval.last+1)]
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1183 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1184 newPositions = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1185 if obj.velocities is not None :
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1186 newVelocities = obj.velocities[slice(newTimeInterval.first, newTimeInterval.last+1)]
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1187 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1188 newVelocities = None
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1189 if obj.hasFeatures():
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1190 newFeatures = [f.croppedTimeInterval(value, after) for f in obj.features]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1191 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1192 newFeatures = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1193 res = MovingObject(obj.getNum(), newTimeInterval, newPositions, newVelocities, obj.geometry, obj.userType, obj.nObjects)
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1194 res.features = newFeatures
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1195 res.featureNumbers = obj.featureNumbers
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1196 #if hasattr(obj, 'projectedPositions'):
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1197 # res.projectedPositions = obj.projectedPositions[slice(newTimeInterval.first, newTimeInterval.last+1)]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1198 return res
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1199
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
1200
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1201 @staticmethod
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1202 def aggregateTrajectories(features, interval = None, aggFunc = mean):
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1203 'Computes the aggregate trajectory from list of MovingObject features'
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1204 positions = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1205 velocities = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1206 if interval is None:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1207 inter = TimeInterval.unionIntervals([f.getTimeInterval() for f in features])
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1208 else:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1209 inter = interval
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1210 for t in inter:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1211 points = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1212 vels = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1213 for f in features:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1214 if f.existsAtInstant(t):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1215 points.append(f.getPositionAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1216 vels.append(f.getVelocityAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1217 positions.addPosition(Point.agg(points, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1218 velocities.addPosition(Point.agg(vels, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1219 return inter, positions, velocities
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1220
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1221 @staticmethod
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
1222 def generate(num, p, v, timeInterval):
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1223 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length()))
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
1224 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = velocities)
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1225
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1226 def updatePositions(self):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1227 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval())
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1228
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1229 @staticmethod
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1230 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1231 '''Concatenates two objects, whether overlapping temporally or not
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1232
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1233 Positions will be recomputed only if computePositions is True
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1234 Otherwise, only featureNumbers and/or features will be merged'''
997
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1235 if num is None:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1236 newNum = obj1.getNum()
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1237 else:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1238 newNum = num
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1239 commonTimeInterval = obj1.commonTimeInterval(obj2)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1240 if commonTimeInterval.empty():
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1241 #print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval()))
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1242 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()), max(obj1.getFirstInstant(),obj2.getFirstInstant()))
994
8118c6b77d7c update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 993
diff changeset
1243 if obj1.existsAtInstant(emptyInterval.last):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1244 firstObject = obj2
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1245 secondObject = obj1
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1246 else:
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1247 firstObject = obj1
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1248 secondObject = obj2
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1249 v = (secondObject.getPositionAtInstant(emptyInterval.last)-firstObject.getPositionAtInstant(emptyInterval.first)).divide(emptyInterval.length()-1)
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1250 positions = copy.deepcopy(firstObject.getPositions())
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1251 velocities = copy.deepcopy(firstObject.getPositions())
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1252 featurePositions = Trajectory()
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1253 featureVelocities = Trajectory()
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1254 p = firstObject.getPositionAtInstant(emptyInterval.first)+v
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1255 for t in range(emptyInterval.first+1, emptyInterval.last):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1256 positions.addPosition(p)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1257 velocities.addPosition(v)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1258 featurePositions.addPosition(p)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1259 featureVelocities.addPosition(v)
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1260 p=p+v
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1261 for t in secondObject.getTimeInterval():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1262 positions.addPosition(secondObject.getPositionAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1263 velocities.addPosition(secondObject.getVelocityAtInstant(t))
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1264 newObject = MovingObject(newNum, TimeInterval(firstObject.getFirstInstant(), secondObject.getLastInstant()), positions, velocities, nObjects = 1)
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1265 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1266 if newFeatureNum is not None:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1267 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers+[newFeatureNum]
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1268 else:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1269 print('Issue, new created feature has no num id')
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1270 if obj1.hasFeatures() and obj2.hasFeatures():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1271 newObject.features = obj1.getFeatures()+obj2.getFeatures()+[MovingObject(newFeatureNum, TimeInterval(emptyInterval.first+1, emptyInterval.last-1), featurePositions, featureVelocities)]
1076
108c5dc4e34a Correcting loaders
Wendlasida
parents: 1075
diff changeset
1272 newObject.updatePositions()
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1273 else: # time intervals overlap
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1274 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1275 newObject = MovingObject(newNum, newTimeInterval, nObjects = 1) # hypothesis is that it's the same object being reunited
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1276 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1277 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1278 if obj1.hasFeatures() and obj2.hasFeatures():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1279 newObject.features = obj1.getFeatures()+obj2.getFeatures()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1280 newObject.updatePositions()
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1281 else:
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1282 print('Cannot update object positions without features')
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1283 # user type
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1284 if obj1.getUserType() != obj2.getUserType():
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1285 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()]))
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1286 newObject.setUserType(obj1.getUserType())
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1287 return newObject
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1288
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1289 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1290 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1291 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
1292 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
1293 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1294 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant())
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1295 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType, self.nObjects)
982
51d8406b2489 corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
1296 if self.velocities is not None:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1297 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1298 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1299 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1300 print('The object does not exist at {}'.format(inter))
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1301 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1302
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1303 def getObjectsInMask(self, mask, homography = None, minLength = 1):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1304 '''Returns new objects made of the positions in the mask
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1305 mask is in the destination of the homography space'''
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1306 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1307 self.projectedPositions = self.positions.homographyProject(homography)
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1308 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1309 self.projectedPositions = self.positions
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1310 def inMask(positions, i, mask):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1311 p = positions[i]
982
51d8406b2489 corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
1312 return mask[int(p.y), int(p.x)] != 0.
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1313
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1314 #subTimeIntervals self.getFirstInstant()+i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1315 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1316 # 'connected components' in subTimeIntervals
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1317 l = 0
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1318 intervalLabels = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1319 prev = True
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1320 for i in filteredIndices:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1321 if i:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1322 if not prev: # new interval
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1323 l += 1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1324 intervalLabels.append(l)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1325 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1326 intervalLabels.append(-1)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1327 prev = i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1328 intervalLabels = array(intervalLabels)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1329 subObjects = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1330 for l in set(intervalLabels):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1331 if l >= 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1332 if sum(intervalLabels == l) >= minLength:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1333 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1334 subTimeInterval = TimeInterval(min(times), max(times))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1335 subObjects.append(self.getObjectInTimeInterval(subTimeInterval))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1336
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1337 return subObjects
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1338
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1339 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1340 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1341
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1342 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1343 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1344
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1345 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
1346 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
1347
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1348 def computeCumulativeDistances(self):
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1349 self.positions.computeCumulativeDistances()
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1350
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1351 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1352 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1353 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1354 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1355 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1356
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1357 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1358 if hasattr(self, 'curvilinearPositions'):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1359 if lane is None:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1360 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1361 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1362 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1363 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1364 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1365 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1366 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1367 if p[2] == lane:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1368 instants.append(t)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1369 coords.append(p[0])
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1370 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1371 instants.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1372 coords.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1373 plot(instants, coords, options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1374 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1375 plot([instants[0]], [coords[0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1376 else:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1377 print('Object {} has no curvilinear positions'.format(self.getNum()))
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1378
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1379 def setUserType(self, userType):
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1380 self.userType = userType
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1381
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1382 def getNObjects(self):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1383 return self.nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1384
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1385 def setNObjects(self, nObjects):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1386 if nObjects is None or nObjects >= 1:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1387 self.nObjects = nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1388 else:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1389 print('Number of objects represented by object {} must be greater or equal to 1 ({})'.format(self.getNum(), nObjects))
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1390 self.nObjects = None
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1391
880
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1392 def setFeatures(self, features, featuresOrdered = False):
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1393 '''Sets the features in the features field based on featureNumbers
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1394 if not all features are loaded from 0, one needs to renumber in a dict'''
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1395 if featuresOrdered:
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1396 tmp = features
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1397 else:
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1398 tmp = {f.getNum():f for f in features}
000555430b28 adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 877
diff changeset
1399 self.features = [tmp[i] for i in self.featureNumbers]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1400
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1401 def getFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1402 return self.features
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1403
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1404 def hasFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1405 return (self.features is not None)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1406
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1407 def getFeature(self, i):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1408 if self.hasFeatures() and i<len(self.features):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1409 return self.features[i]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1410 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1411 return None
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1412
869
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1413 def getNLongestFeatures(self, nFeatures = 1):
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1414 if self.features is None:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1415 return []
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1416 else:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1417 tmp = utils.sortByLength(self.getFeatures(), reverse = True)
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1418 return tmp[:min(len(tmp), nFeatures)]
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1419
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
1420 def getFeatureNumbersOverTime(self):
666
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1421 '''Returns the number of features at each instant
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1422 dict instant -> number of features'''
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1423 if self.hasFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1424 featureNumbers = {}
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1425 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1426 n = 0
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1427 for f in self.getFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1428 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1429 n += 1
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1430 featureNumbers[t]=n
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1431 return featureNumbers
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1432 else:
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1433 print('Object {} has no features loaded.'.format(self.getNum()))
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1434 return None
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1435
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1436 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1437 speeds = self.getVelocities().norm()
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1438 if nInstantsIgnoredAtEnds > 0:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1439 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1440 return speeds[n:-n]
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1441 else:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1442 return speeds
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1443
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1444 def getAccelerations(self, window_length, polyorder, delta=1.0, axis=-1, mode='interp', cval=0.0, speeds = None, nInstantsIgnoredAtEnds = 0):
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1445 '''Returns the 1-D acceleration from the 1-D speeds
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1446 Caution about previously filtered data'''
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1447 if speeds is None:
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1448 speeds = self.getSpeeds(nInstantsIgnoredAtEnds)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1449 return savgol_filter(speeds, window_length, polyorder, 1, delta, axis, mode, cval)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1450
633
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1451 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1452 from indicators import SeverityIndicator
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1453 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()})
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1454
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1455 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1456 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1457
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1458 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1459 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1460
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1461 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1462 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
1463
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1464 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1465 return self.velocities[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1466
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1467 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1468 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1469
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1470 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1471 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1472
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1473 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1474 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1475 objNum = self.getNum()
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1476 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1477 objNum = None
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1478 if withFeatures and self.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1479 for f in self.getFeatures():
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1480 f.positions.plot('r', True, timeStep, **kwargs)
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1481 self.positions.plot('bx-', True, timeStep, objNum, **kwargs)
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1482 else:
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1483 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
1484
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1485 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs):
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1486 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1487 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, self.getNum(), **kwargs)
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1488 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1489 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
1490
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1491 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1492 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
1493
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1494 def speedDiagnostics(self, framerate = 1., display = False, nInstantsIgnoredAtEnds=0):
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1495 speeds = framerate*self.getSpeeds(nInstantsIgnoredAtEnds)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1496 coef = utils.linearRegression(list(range(len(speeds))), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1497 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0]))
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1498 if display:
672
5473b7460375 moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 666
diff changeset
1499 from matplotlib.pyplot import figure, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1500 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1501 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1502 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1503 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1504 plot(list(self.getTimeInterval()), speeds)
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1505 figure(3)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1506 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1507
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1508 @staticmethod
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1509 def minMaxDistance(obj1, obj2):
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1510 '''Computes the min max distance used for feature grouping'''
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1511 commonTimeInterval = obj1.commonTimeInterval(obj2)
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1512 if not commonTimeInterval.empty():
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1513 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1514 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1515 for t in list(commonTimeInterval)[1:]:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1516 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1517 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1518 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1519 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1520 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1521 return int(commonTimeInterval.length()), minDistance, maxDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1522 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1523 return int(commonTimeInterval.length()), None, None
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1524
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1525 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1526 def distances(obj1, obj2, instant1, _instant2 = None):
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1527 '''Returns the distances between all features of the 2 objects
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1528 at the same instant instant1
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1529 or at instant1 and instant2'''
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1530 if _instant2 is None:
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1531 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1532 else:
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1533 instant2 = _instant2
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1534 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1535 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1536 return cdist(positions1, positions2, metric = 'euclidean')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1537
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1538 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1539 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1540 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1541
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1542 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1543 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1544 return MovingObject.distances(obj1, obj2, instant1, instant2).max()
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1545
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1546 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1547 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1548 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
1549 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1550 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1551 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1552 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1553 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
1554 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1555 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1556 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1557 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1558 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1559 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
1560 return None
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 596 616
diff changeset
1561
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1562 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1563 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1564 self.endRouteID = endRouteID
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1565
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1566 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
1567 '''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
1568 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
1569 empty list if there is no crossing'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1570 indices, intersections = self.positions.getIntersections(p1, p2)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1571 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
1572
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1573 def computeTrajectorySimilarities(self, prototypes, lcss):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1574 'Computes the similarities to the prototypes using the LCSS'
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1575 if not hasattr(self, 'prototypeSimilarities'):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1576 self.prototypeSimilarities = []
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1577 for proto in prototypes:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1578 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1579 similarities = lcss.similarityTable[-1, :-1].astype(float)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1580 self.prototypeSimilarities.append(similarities/minimum(arange(1.,len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities))))
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1581
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1582 @staticmethod
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1583 def computePET(obj1, obj2, collisionDistanceThreshold):
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1584 '''Post-encroachment time based on distance threshold
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1585
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1586 Returns the smallest time difference when the object positions are within collisionDistanceThreshold
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1587 and the instants at which each object is passing through its corresponding position'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1588 positions1 = [p.astuple() for p in obj1.getPositions()]
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1589 positions2 = [p.astuple() for p in obj2.getPositions()]
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1590 n1 = len(positions1)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1591 n2 = len(positions2)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1592 pets = zeros((n1, n2))
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1593 for i,t1 in enumerate(obj1.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1594 for j,t2 in enumerate(obj2.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1595 pets[i,j] = abs(t1-t2)
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1596 distances = cdist(positions1, positions2, metric = 'euclidean')
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1597 smallDistances = (distances <= collisionDistanceThreshold)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1598 if smallDistances.any():
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1599 smallPets = pets[smallDistances]
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1600 petIdx = smallPets.argmin()
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1601 distanceIndices = argwhere(smallDistances)[petIdx]
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1602 return smallPets[petIdx], obj1.getFirstInstant()+distanceIndices[0], obj2.getFirstInstant()+distanceIndices[1]
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1603 else:
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
1604 return None, None, None
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1605
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
1606 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
1607 '''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
1608 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
1609 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
1610
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1611 def projectCurvilinear(self, alignments, ln_mv_av_win=3):
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1612 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()'
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1613 (curvilinearPositions instance) which holds information about the
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1614 curvilinear coordinates using alignment metadata.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1615 From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1616 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1617
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1618 Input:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1619 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1620 alignments = a list of alignments, where each alignment is a list of
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1621 points (class Point).
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1622 ln_mv_av_win = moving average window (in points) in which to smooth
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1623 lane changes. As per tools_math.cat_mvgavg(), this term
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1624 is a search *radius* around the center of the window.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1625
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1626 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1627
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1628 self.curvilinearPositions = CurvilinearTrajectory()
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1629
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1630 #For each point
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1631 for i in range(int(self.length())):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1632 result = getSYfromXY(self.getPositionAt(i), alignments)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1633
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1634 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1635 if(result is None):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1636 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1637 else:
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1638 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1639 self.curvilinearPositions.addPositionSYL(S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1640
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1641 ## Go back through points and correct lane
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1642 #Run through objects looking for outlier point
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1643 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win)
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1644 ## Recalculate projected point to new lane
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1645 lanes = self.curvilinearPositions.getLanes()
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1646 if(lanes != smoothed_lanes):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1647 for i in range(len(lanes)):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1648 if(lanes[i] != smoothed_lanes[i]):
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1649 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1650
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1651 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1652 if(result is None):
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1653 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment.
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1654 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1655 else:
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1656 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1657 self.curvilinearPositions.setPosition(i, S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1658
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1659 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1660 '''Computes the trajectory as the mean of all features
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1661 if a feature exists, its position is
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1662
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1663 Warning work in progress
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1664 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1665 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1666 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1667 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1668 else:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1669 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1670 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1671 for i in range(nFeatures):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1672 for j in range(i):
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1673 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1674 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1675 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1676 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1677 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1678 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1679 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1680 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1681 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi))
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1682 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1683
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
1684 ###
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
1685 # 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
1686 ###
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1687 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1688 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1689 slow: non-motorized -> pedestrians
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 583
diff changeset
1690 fast: motorized -> cars
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1691
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1692 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile:
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1693 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile'''
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1694 speeds = self.getSpeeds(nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1695 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1696 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1697 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1698 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1699
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1700 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1701 '''Classifies road user per road user type
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1702 speedProbabilities are functions return P(speed|class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1703 in a dictionary indexed by user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1704 Returns probabilities for each class
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1705
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
1706 for simple threshold classification, simply pass non-overlapping indicator functions (membership)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1707 e.g. def indic(x):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1708 if abs(x-mu) < sigma:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1709 return 1
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1710 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1711 return x'''
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1712 if not hasattr(self, 'aggregatedSpeed'):
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1713 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1714 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1715 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1716 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1717 self.setUserType(utils.argmaxDict(userTypeProbabilities))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1718 return userTypeProbabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1719
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1720 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0, homography = None, intrinsicCameraMatrix = None, distortionCoefficients = None):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1721 '''Initializes the data structures for classification
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1722
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1723 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1724 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1725 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1726 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1727 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1728 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1729 else:
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1730 self.appearanceClassifier = carClassifier
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1731 # project feature positions
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1732 if self.hasFeatures():
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
1733 for f in self.getFeatures():
935
0e63a918a1ca updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
1734 pp = cvutils.worldToImageProject(f.getPositions().asArray(), intrinsicCameraMatrix, distortionCoefficients, homography).tolist()
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1735 f.positions = Trajectory(pp)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1736 self.userTypes = {}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1737
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1738 def classifyUserTypeHoGSVMAtInstant(self, img, instant, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm):
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1739 '''Extracts the image box around the object
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1740 (of square size max(width, height) of the box around the features,
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1741 with an added px or py for width and height (around the box))
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1742 computes HOG on this cropped image (with parameters rescaleSize, orientations, pixelsPerCell, cellsPerBlock)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1743 and applies the SVM model on it'''
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
1744 croppedImg = cvutils.imageBox(img, self, instant, width, height, px, py, minNPixels)
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
1745 if croppedImg is not None and len(croppedImg) > 0:
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1746 hog = cvutils.HOG(croppedImg, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm)
993
e8eabef7857c update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
1747 self.userTypes[instant] = self.appearanceClassifier.predict(hog.reshape(1,hog.size))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1748 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1749 self.userTypes[instant] = userType2Num['unknown']
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1750
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1751 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, maxPercentUnknown = 0.5, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2)):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1752 '''Agregates SVM detections in each image and returns probability
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1753 (proportion of instants with classification in each category)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1754
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1755 images is a dictionary of images indexed by instant
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1756 With default parameters, the general (ped-bike-car) classifier will be used
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1757
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1758 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1759 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'):
845
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 828
diff changeset
1760 print('Initializing the data structures for classification by HoG-SVM')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1761 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1762
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1763 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1764 for t in self.getTimeInterval():
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1765 if t not in self.userTypes:
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 785
diff changeset
1766 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1767 # compute P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1768 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1769 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.}
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1770 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
1771 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1772 # compute P(Class|Appearance)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1773 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1774 nInstantsUserType[userType2Num['unknown']] = 0
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1775 for t in self.userTypes:
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1776 nInstantsUserType[self.userTypes[t]] += 1 #nInstantsUserType.get(self.userTypes[t], 0) + 1
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1777 # result is P(Class|Appearance) x P(Speed|Class)
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1778 if nInstantsUserType[userType2Num['unknown']] < maxPercentUnknown*self.length(): # if not too many unknowns
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1779 for userTypeNum in userTypeProbabilities:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1780 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum]
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1781 # class is the user type that maximizes usertype probabilities
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1782 if nInstantsUserType[userType2Num['unknown']] >= maxPercentUnknown*self.length() and (speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable): # if no speed information and too many unknowns
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1783 self.setUserType(userType2Num['unknown'])
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1784 else:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1785 self.setUserType(utils.argmaxDict(userTypeProbabilities))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1786
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
1787 def classifyUserTypeArea(self, areas, homography):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1788 '''Classifies the object based on its location (projected to image space)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1789 areas is a dictionary of matrix of the size of the image space
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1790 for different road users possible locations, indexed by road user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1791
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
1792 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1793 skip frames at beginning/end?'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1794 print('not implemented/tested yet')
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1795 if not hasattr(self, projectedPositions):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1796 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1797 self.projectedPositions = obj.positions.homographyProject(homography)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1798 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1799 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1800 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))}
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1801 for p in self.projectedPositions:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1802 for userTypename in areas:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1803 if areas[userTypename][p.x, p.y] != 0:
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1804 possibleUserTypes[userType2Enum[userTypename]] += 1
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1805 # what to do: threshold for most common type? self.setUserType()
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1806 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1807
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1808 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1809 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1810 '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
1811 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1812 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
1813 return Point.dot(deltap, deltav)
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1814
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1815 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1816 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1817 'A positive result indicates that the road users are getting closer'
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1818 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1819 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1820
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1821
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1822 class Prototype(object):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1823 'Class for a prototype'
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1824
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1825 def __init__(self, filename, num, trajectoryType, nMatchings = None):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1826 self.filename = filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1827 self.num = num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1828 self.trajectoryType = trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1829 self.nMatchings = nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1830 self.movingObject = None
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1831
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1832 def getFilename(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1833 return self.filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1834 def getNum(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1835 return self.num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1836 def getTrajectoryType(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1837 return self.trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1838 def getNMatchings(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1839 return self.nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1840 def getMovingObject(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1841 return self.movingObject
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1842 def setMovingObject(self, o):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1843 self.movingObject = o
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
1844 def __str__(self):
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
1845 return '{} {} {}'.format(self.filename, self.num, self.trajectoryType)
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1846 def __eq__(self, p2):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1847 return self.filename == p2.filename and self.num == p2.num and self.trajectoryType == p2.trajectoryType
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1848 def __hash__(self):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
1849 return hash((self.filename, self.num, self.trajectoryType))
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
1850
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1851 ##################
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1852 # Annotations
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1853 ##################
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1854
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1855 class BBMovingObject(MovingObject):
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1856 '''Class for a moving object represented as a bounding box
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1857 used for series of ground truth annotations using bounding boxes
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1858 and for the output of Urban Tracker http://www.jpjodoin.com/urbantracker/
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1859
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1860 By default in image space
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1861
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1862 Its center is the center of the box (generalize to other shapes?)
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1863 (computed after projecting if homography available)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1864 '''
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1865
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1866 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']):
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1867 super(BBMovingObject, self).__init__(num, timeInterval, userType = userType)
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1868 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1869 self.bottomRightPositions = bottomRightPositions.getPositions()
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1870
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1871 def computeCentroidTrajectory(self, homography = None):
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
1872 self.positions = self.topLeftPositions.add(self.bottomRightPositions).__mul__(0.5)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1873 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1874 self.positions = self.positions.homographyProject(homography)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1875
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1876 def matches(self, obj, instant, matchingDistance):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1877 '''Indicates if the annotation matches obj (MovingObject)
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1878 with threshold matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1879 Returns distance if below matchingDistance, matchingDistance+1 otherwise
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1880 (returns an actual value, otherwise munkres does not terminate)'''
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1881 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1882 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1883 return d
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1884 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1885 return matchingDistance + 1
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1886
1081
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1887 def matchObjects(obj1, obj2, instant, matchingDistance):
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1888 '''Indicates if obj matches obj2 with threshold matchingDistance
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1889 Returns distance if below matchingDistance, matchingDistance+1 otherwise
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1890 (returns an actual value, otherwise munkres does not terminate)'''
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1891 d = Point.distanceNorm2(obj1.getPositionAtInstant(instant), obj2.getPositionAtInstant(instant))
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1892 if d < matchingDistance:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1893 return d
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1894 else:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1895 return matchingDistance + 1
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1896
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
1897 # TODO class to have different matching methods, eg with something like matchObjects
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1898 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1899 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1900
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1901 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1902 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1903
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1904 objects and annotations are supposed to in the same space
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
1905 current implementation is BBMovingObject (bounding boxes)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1906 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1907
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1908 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1909 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1910
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1911 Output: returns motp, mota, mt, mme, fpt, gt
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1912 mt number of missed GT.frames (sum of the number of GT not detected in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1913 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1914 fpt number of false alarm.frames (tracker objects without match in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1915 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1916
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1917 if returnMatches is True, return as 2 new arguments the GT and TO matches
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1918 matches is a dict
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1919 matches[i] is the list of matches for GT/TO i
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1920 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1921 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm)
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1922
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1923 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance?
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1924 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1925 from munkres import Munkres
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1926
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1927 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1928 dist = 0. # total distance between GT and TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1929 ct = 0 # number of associations between GT and tracker output in each frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1930 gt = 0 # number of GT.frames
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1931 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1932 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1933 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1934 matches = {} # match[i] is the tracker track associated with GT i (using object references)
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1935 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1936 gtMatches = {a.getNum():{} for a in annotations}
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1937 toMatches = {o.getNum():{} for o in objects}
956
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
1938 else:
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
1939 gtMatches = None
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
1940 toMatches = None
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1941 for t in range(firstInstant, lastInstant+1):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1942 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1943 # go through currently matched GT-TO and check if they are still matched withing matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1944 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1945 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1946 if a.existsAtInstant(t) and matches[a].existsAtInstant(t):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1947 d = a.matches(matches[a], t, matchingDistance)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1948 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1949 dist += d
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1950 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1951 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1952 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1953 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1954 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1955 del matches[a]
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1956
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1957 # match all unmatched GT-TO
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1958 matchedGTs = list(matches.keys())
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1959 matchedTOs = list(matches.values())
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1960 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1961 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1962 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1963 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1964 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1965 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1966 for a in unmatchedGTs:
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1967 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs])
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1968 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1969 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1970 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1971 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1972 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1973 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1974 if debug:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1975 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.items()]))
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1976 if returnMatches:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1977 for a,o in matches.items():
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1978 gtMatches[a.getNum()][t] = o.getNum()
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1979 toMatches[o.getNum()][t] = a.getNum()
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1980
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1981 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1982 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1983 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1984 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1985 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1986 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1987 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1988 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1989 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1990 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1991 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1992 mismatches.append(a)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1993 elif matches[a] in list(previousMatches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1994 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1995 for a in previousMatches:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
1996 if a not in matches and previousMatches[a] in list(matches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1997 mismatches.append(previousMatches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1998 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1999 for mm in set(mismatches):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
2000 print('{} {}'.format(type(mm), mm.getNum()))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2001 # some object mismatches may appear twice
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2002 mme += len(set(mismatches))
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2003
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2004 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2005 motp = dist/ct
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2006 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2007 motp = None
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2008 if gt > 0:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2009 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2010 else:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2011 mota = None
956
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2012 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2013
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2014 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2015 '''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
2016 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
2017 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2018 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
2019 obj.plot(colors.get(obj.userType))
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2020 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2021
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2022
1016
9b53be469a36 getting ready for pull request
Wendlasida
parents: 1014
diff changeset
2023 if __name__ == "__main__":
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2024 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2025 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2026 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2027 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2028 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2029 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2030 #doctest.testfile("example.txt")
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2031 if shapelyAvailable:
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2032 suite = doctest.DocFileSuite('tests/moving_shapely.txt')
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2033 unittest.TextTestRunner().run(suite)