Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 781:7c38250ddfc7 dev
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)
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 11 Feb 2016 11:56:50 -0500 |
parents | 1b22d81ef5ff |
children | 3aa6102ccc12 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils, cvutils |
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corrected bug with circular import for VideoFilenameAddable, moved to base module
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5 from base import VideoFilenameAddable |
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6 |
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7 from math import sqrt, atan2, cos, sin |
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8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32 |
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9 from matplotlib.pyplot import plot |
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10 from scipy.stats import scoreatpercentile |
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11 from scipy.spatial.distance import cdist |
16 | 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 |
372
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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 |
7
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20 |
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21 |
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22 class Interval(object): |
288
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23 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 24 def __init__(self, first=0, last=-1, revert = False): |
25 if revert and last<first: | |
26 self.first=last | |
27 self.last=first | |
28 else: | |
29 self.first=first | |
30 self.last=last | |
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31 |
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32 def __str__(self): |
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33 return '[{0}, {1}]'.format(self.first, self.last) |
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34 |
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35 def __repr__(self): |
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36 return self.__str__() |
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37 |
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38 def __eq__(self, other): |
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39 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first)) |
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40 |
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41 def empty(self): |
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42 return self.first > self.last |
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43 |
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44 def center(self): |
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45 return (self.first+self.last)/2. |
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46 |
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47 def length(self): |
43
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48 '''Returns the length of the interval''' |
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49 return float(max(0,self.last-self.first)) |
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50 |
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51 def equal(self, i2): |
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52 return self.first==i2.first and self.last == i2.last |
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53 |
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54 def getList(self): |
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55 return [self.first, self.last] |
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56 |
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57 def contains(self, instant): |
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58 return (self.first<=instant and self.last>=instant) |
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59 |
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60 def inside(self, interval2): |
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61 '''Indicates if the temporal interval of self is comprised in interval2''' |
2
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62 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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63 |
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64 @classmethod |
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65 def union(cls, interval1, interval2): |
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66 '''Smallest interval comprising self and interval2''' |
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67 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
2
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68 |
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69 @classmethod |
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70 def intersection(cls, interval1, interval2): |
104
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71 '''Largest interval comprised in both self and interval2''' |
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72 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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73 |
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74 def distance(self, interval2): |
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75 if not Interval.intersection(self, interval2).empty(): |
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76 return 0 |
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77 elif self.first > interval2.last: |
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78 return self.first - interval2.last |
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79 elif self.last < interval2.first: |
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80 return interval2.first - self.last |
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81 else: |
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82 return None |
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83 |
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84 @classmethod |
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85 def unionIntervals(cls, intervals): |
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86 'returns the smallest interval containing all intervals' |
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87 inter = cls(intervals[0].first, intervals[0].last) |
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88 for i in intervals[1:]: |
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89 inter = cls.union(inter, i) |
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90 return inter |
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91 |
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92 |
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93 class TimeInterval(Interval): |
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94 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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95 |
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96 For example: based on frame numbers (hence the modified length method) |
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97 It may be modified directly by setting first and last''' |
26 | 98 |
99 def __init__(self, first=0, last=-1): | |
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100 super(TimeInterval, self).__init__(first, last, False) |
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101 |
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102 @staticmethod |
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103 def fromInterval(inter): |
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104 return TimeInterval(inter.first, inter.last) |
26 | 105 |
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106 def __getitem__(self, i): |
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107 if not self.empty(): |
526
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108 if isinstance(i, int): |
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109 return self.first+i |
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110 else: |
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111 raise TypeError, "Invalid argument type." |
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112 #elif isinstance( key, slice ): |
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113 |
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114 def __iter__(self): |
107
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115 self.iterInstantNum = -1 |
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116 return self |
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117 |
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118 def next(self): |
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119 if self.iterInstantNum >= self.length()-1: |
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120 raise StopIteration |
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121 else: |
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122 self.iterInstantNum += 1 |
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123 return self[self.iterInstantNum] |
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124 |
26 | 125 def length(self): |
43
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126 '''Returns the length of the interval''' |
91
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127 return float(max(0,self.last-self.first+1)) |
7
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128 |
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129 def __len__(self): |
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130 return self.length() |
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131 |
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132 # class BoundingPolygon: |
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133 # '''Class for a polygon bounding a set of points |
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134 # with methods to create intersection, unions... |
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135 # ''' |
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136 # We will use the polygon class of Shapely |
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137 |
290
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138 class STObject(object): |
288
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139 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 140 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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141 |
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142 It may not mean that the object is defined |
6 | 143 for all time instants within the time interval''' |
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144 |
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145 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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146 self.num = num |
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147 self.timeInterval = timeInterval |
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148 self.boundingPolygon = boundingPolygon |
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149 |
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150 def empty(self): |
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151 return self.timeInterval.empty()# or not self.boudingPolygon |
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152 |
329
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153 def getNum(self): |
211 | 154 return self.num |
155 | |
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156 def __len__(self): |
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157 return self.timeInterval.length() |
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158 |
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159 def length(self): |
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160 return self.timeInterval.length() |
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161 |
2
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162 def getFirstInstant(self): |
40
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163 return self.timeInterval.first |
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164 |
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165 def getLastInstant(self): |
40
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166 return self.timeInterval.last |
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167 |
43
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168 def getTimeInterval(self): |
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169 return self.timeInterval |
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170 |
108
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171 def existsAtInstant(self, t): |
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172 return self.timeInterval.contains(t) |
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173 |
43
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174 def commonTimeInterval(self, obj2): |
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175 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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176 |
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177 class Point(object): |
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178 def __init__(self, x, y): |
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179 self.x = x |
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180 self.y = y |
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181 |
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182 def __str__(self): |
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183 return '({:f},{:f})'.format(self.x,self.y) |
25
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184 |
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185 def __repr__(self): |
98
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186 return self.__str__() |
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187 |
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188 def __eq__(self, other): |
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189 return (self.x == other.x) and (self.y == other.y) |
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190 |
184
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191 def __add__(self, other): |
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192 return Point(self.x+other.x, self.y+other.y) |
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193 |
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194 def __sub__(self, other): |
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195 return Point(self.x-other.x, self.y-other.y) |
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196 |
451
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197 def __neg__(self): |
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198 return Point(-self.x, -self.y) |
575
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199 |
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200 def __getitem__(self, i): |
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201 if i == 0: |
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202 return self.x |
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203 elif i == 1: |
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204 return self.y |
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205 else: |
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206 raise IndexError() |
573
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207 |
690 | 208 def orthogonal(self, clockwise = True): |
209 'Returns the orthogonal vector' | |
210 if clockwise: | |
211 return Point(self.y, -self.x) | |
212 else: | |
213 return Point(-self.y, self.x) | |
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214 |
105
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215 def multiply(self, alpha): |
573
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216 'Warning, returns a new Point' |
105
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217 return Point(self.x*alpha, self.y*alpha) |
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218 |
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219 def divide(self, alpha): |
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220 'Warning, returns a new Point' |
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221 return Point(self.x/alpha, self.y/alpha) |
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222 |
515
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223 def plot(self, options = 'o', **kwargs): |
211 | 224 plot([self.x], [self.y], options, **kwargs) |
41 | 225 |
771 | 226 @staticmethod |
227 def plotSegment(p1, p2, options = 'o', **kwargs): | |
228 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs) | |
229 | |
38
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230 def norm2Squared(self): |
43
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231 '''2-norm distance (Euclidean distance)''' |
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232 return self.x**2+self.y**2 |
38
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233 |
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234 def norm2(self): |
288
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235 '''2-norm distance (Euclidean distance)''' |
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236 return sqrt(self.norm2Squared()) |
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237 |
284
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238 def norm1(self): |
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239 return abs(self.x)+abs(self.y) |
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240 |
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241 def normMax(self): |
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242 return max(abs(self.x),abs(self.y)) |
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243 |
64
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244 def aslist(self): |
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245 return [self.x, self.y] |
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246 |
203
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247 def astuple(self): |
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248 return (self.x, self.y) |
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249 |
223
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250 def asint(self): |
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251 return Point(int(self.x), int(self.y)) |
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252 |
372
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253 if shapelyAvailable: |
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254 def asShapely(self): |
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255 return shapelyPoint(self.x, self.y) |
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256 |
98
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257 def project(self, homography): |
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258 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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259 return Point(projected[0], projected[1]) |
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260 |
627
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|
261 def inPolygon(self, polygon): |
372
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262 '''Indicates if the point x, y is inside the polygon |
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263 (array of Nx2 coordinates of the polygon vertices) |
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264 |
92
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makes use of matplotlib function to test if point is in a polygon
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91
diff
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|
265 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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266 |
372
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267 Use Polygon.contains if Shapely is installed''' |
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268 |
372
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269 n = polygon.shape[0]; |
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270 counter = 0; |
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271 |
372
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272 p1 = polygon[0,:]; |
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273 for i in range(n+1): |
372
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274 p2 = polygon[i % n,:]; |
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275 if self.y > min(p1[1],p2[1]): |
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276 if self.y <= max(p1[1],p2[1]): |
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277 if self.x <= max(p1[0],p2[0]): |
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278 if p1[1] != p2[1]: |
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279 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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280 if p1[0] == p2[0] or self.x <= xinters: |
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281 counter+=1; |
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282 p1=p2 |
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283 return (counter%2 == 1); |
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284 |
49 | 285 @staticmethod |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
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286 def fromList(p): |
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287 return Point(p[0], p[1]) |
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288 |
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289 @staticmethod |
67
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added indicator computation and modified severity indicator constructor
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diff
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290 def dot(p1, p2): |
89
f88a19695bba
added inner product
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291 'Scalar product' |
67
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292 return p1.x*p2.x+p1.y*p2.y |
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293 |
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diff
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|
294 @staticmethod |
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f84293ad4611
renamed inner to cross product
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diff
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|
295 def cross(p1, p2): |
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296 'Cross product' |
89
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297 return p1.x*p2.y-p1.y*p2.x |
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298 |
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|
299 @staticmethod |
378
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300 def cosine(p1, p2): |
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301 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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302 |
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diff
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|
303 @staticmethod |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
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diff
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|
304 def distanceNorm2(p1, p2): |
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added norm functions for Point and accessor methods for MovingObject
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diff
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305 return (p1-p2).norm2() |
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added norm functions for Point and accessor methods for MovingObject
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|
306 |
64
c75bcdaed00f
added functions for plotting points
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62
diff
changeset
|
307 @staticmethod |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
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345
diff
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|
308 def plotAll(points, **kwargs): |
64
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diff
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309 from matplotlib.pyplot import scatter |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
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diff
changeset
|
310 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
c75bcdaed00f
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diff
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|
311 |
378
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diff
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|
312 def similarOrientation(self, refDirection, cosineThreshold): |
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313 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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314 return Point.cosine(self, refDirection) >= cosineThreshold |
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|
315 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
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parents:
451
diff
changeset
|
316 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
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parents:
464
diff
changeset
|
317 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
a40c75f04903
optimized direct time to collision computation and added tests
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parents:
501
diff
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|
318 '''Computes exact time to collision with a distance threshold |
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parents:
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diff
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|
319 The unknown of the equation is the time to reach the intersection |
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optimized direct time to collision computation and added tests
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parents:
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diff
changeset
|
320 between the relative trajectory of one road user |
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optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
321 and the circle of radius collisionThreshold around the other road user''' |
a40c75f04903
optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
322 dv = v1-v2 |
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optimized direct time to collision computation and added tests
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parents:
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diff
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|
323 dp = p1-p2 |
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optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
324 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
|
325 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
|
326 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
|
327 |
504
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optimized direct time to collision computation and added tests
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parents:
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diff
changeset
|
328 delta = b**2 - 4*a*c |
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optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
329 if delta >= 0: |
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optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
330 deltaRoot = sqrt(delta) |
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optimized direct time to collision computation and added tests
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parents:
501
diff
changeset
|
331 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
|
332 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
|
333 if ttc1 >= 0 and ttc2 >= 0: |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
334 ttc = 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
|
335 elif ttc1 >= 0: |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
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parents:
527
diff
changeset
|
336 ttc = ttc1 |
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corrected bug in Point.timeToCollision that might result in negative TTCs
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parents:
527
diff
changeset
|
337 elif ttc2 >= 0: |
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corrected bug in Point.timeToCollision that might result in negative TTCs
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parents:
527
diff
changeset
|
338 ttc = ttc2 |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
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parents:
527
diff
changeset
|
339 else: # ttc1 < 0 and ttc2 < 0: |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
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parents:
527
diff
changeset
|
340 ttc = None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
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parents:
451
diff
changeset
|
341 else: |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
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diff
changeset
|
342 ttc = None |
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diff
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|
343 return ttc |
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parents:
451
diff
changeset
|
344 |
583
6ebfb43e938e
added midpoint function (from laurent gauthier)
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parents:
582
diff
changeset
|
345 @staticmethod |
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added midpoint function (from laurent gauthier)
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diff
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|
346 def midPoint(p1, p2): |
6ebfb43e938e
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parents:
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diff
changeset
|
347 'Returns the middle of the segment [p1, p2]' |
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diff
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|
348 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
|
349 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
350 if shapelyAvailable: |
349eb1e09f45
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369
diff
changeset
|
351 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
|
352 '''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
|
353 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
|
354 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
|
355 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
|
356 prepared_polygon = prep(polygon) |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
357 return filter(prepared_polygon.contains, points) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
358 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
359 # Functions for coordinate transformation |
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first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
360 # 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
|
361 def subsec_spline_dist(splines): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
362 ''' 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
|
363 |
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364 Output: |
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365 ======= |
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366 ss_spline_d[spline #][mode][station] |
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367 |
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368 where: |
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369 mode=0: incremental distance |
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370 mode=1: cumulative distance |
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371 mode=2: cumulative distance with trailing distance |
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372 ''' |
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373 ss_spline_d = [] |
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374 #Prepare subsegment distances |
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375 for spline in range(len(splines)): |
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376 ss_spline_d[spline]=[]#.append([[],[],[]]) |
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377 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Incremental distance |
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378 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Cumulative distance |
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379 ss_spline_d[spline].append(zeros(len(splines[spline]))) #Cumulative distance with trailing distance |
567
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380 for spline_p in range(len(splines[spline])): |
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381 if spline_p > (len(splines[spline]) - 2): |
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382 break |
569
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383 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
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384 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p]) |
568
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385 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p]) |
567
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386 |
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387 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1] |
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388 |
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389 return ss_spline_d |
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390 |
780
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391 def prepareSplines(splines): |
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392 'Approximates slope singularity by giving some slope roundoff; account for roundoff error' |
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393 for spline in splines: |
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394 p1 = spline[0] |
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395 for i in xrange(len(spline)-1): |
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396 p2 = spline[i+1] |
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397 if(round(p1.x, 10) == round(p2.x, 10)): |
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398 p2.x += 0.0000000001 |
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399 if(round(p1.y, 10) == round(p2.y, 10)): |
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400 p2.y += 0.0000000001 |
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401 p1 = p2 |
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402 |
567
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403 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
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404 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
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405 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
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406 ''' |
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407 if(p0x == p1x and p0y == p1y): |
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408 return None |
567
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409 try: |
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410 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
780
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411 # if(round(p0x, 10) == round(p1x, 10)): |
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412 # p1x += 0.0000000001 |
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413 # if(round(p0y, 10) == round(p1y, 10)): |
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414 # p1y += 0.0000000001 |
567
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415 #make the calculation |
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416 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)) |
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417 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
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418 except ZeroDivisionError: |
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419 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
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420 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
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421 import pdb; pdb.set_trace() |
577
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422 return Point(X,Y) |
567
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|
423 |
577
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576
diff
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|
424 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5): |
780
1b22d81ef5ff
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425 ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines). |
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cleaned and checked storage with functions for curvilinear trajectories
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426 A spline is a list of points (class Point), most likely a trajectory. |
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776
diff
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|
427 |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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653
diff
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|
428 Output: |
784298512b60
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653
diff
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|
429 ======= |
784298512b60
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653
diff
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430 [spline index, |
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653
diff
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431 subsegment leading point index, |
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653
diff
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432 snapped point, |
784298512b60
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653
diff
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433 subsegment distance, |
784298512b60
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diff
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434 spline distance, |
784298512b60
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parents:
653
diff
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|
435 orthogonal point offset] |
784298512b60
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653
diff
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|
436 |
784298512b60
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diff
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437 or None |
569
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work in progress on intersections (for PET)
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parents:
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diff
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|
438 ''' |
573
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571
diff
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|
439 minOffsetY = float('inf') |
567
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440 #For each spline |
780
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776
diff
changeset
|
441 for splineIdx in range(len(splines)): |
577
d0abd2ee17b9
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576
diff
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442 #For each spline point index |
780
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776
diff
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443 for spline_p in range(len(splines[splineIdx])-1): |
573
cae4e5f3fe9f
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571
diff
changeset
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444 #Get closest point on spline |
780
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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776
diff
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445 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
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|
446 if closestPoint is None: |
780
1b22d81ef5ff
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776
diff
changeset
|
447 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>
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571
diff
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|
448 return None |
780
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diff
changeset
|
449 # check if the projected point is in between the current segment of the alignment bounds |
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parents:
776
diff
changeset
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450 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
|
451 offsetY = Point.distanceNorm2(closestPoint, p) |
573
cae4e5f3fe9f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
452 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
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parents:
571
diff
changeset
|
453 minOffsetY = offsetY |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
454 snappedSplineIdx = splineIdx |
573
cae4e5f3fe9f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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571
diff
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|
455 snappedSplineLeadingPoint = spline_p |
577
d0abd2ee17b9
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parents:
576
diff
changeset
|
456 snappedPoint = Point(closestPoint.x, closestPoint.y) |
573
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
457 #Jump loop if significantly close |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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458 if offsetY < goodEnoughSplineDistance: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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571
diff
changeset
|
459 break |
780
1b22d81ef5ff
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parents:
776
diff
changeset
|
460 |
573
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parents:
571
diff
changeset
|
461 #Get sub-segment distance |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
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parents:
573
diff
changeset
|
462 if minOffsetY != float('inf'): |
780
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
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|
463 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSplineIdx][snappedSplineLeadingPoint]) |
577
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parents:
576
diff
changeset
|
464 #Get cumulative alignment distance (total segment distance) |
780
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parents:
776
diff
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|
465 splineDistanceS = splines[snappedSplineIdx].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance |
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parents:
776
diff
changeset
|
466 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
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467 offsetVector = p-snappedPoint |
574
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468 if Point.dot(orthogonalSplineVector, offsetVector) < 0: |
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469 minOffsetY = -minOffsetY |
780
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470 return [snappedSplineIdx, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY] |
574
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471 else: |
780
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472 print('Offset for point {} is infinite (check with prepareSplines if some spline segments are aligned with axes)'.format(p)) |
574
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473 return None |
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474 |
567
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475 def getXYfromSY(s, y, splineNum, splines, mode = 0): |
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476 ''' Find X,Y coordinate from S,Y data. |
568
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477 if mode = 0 : return Snapped X,Y |
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478 if mode !=0 : return Real X,Y |
567
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479 ''' |
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480 |
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481 #(buckle in, it gets ugly from here on out) |
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482 ss_spline_d = subsec_spline_dist(splines) |
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483 |
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484 #Find subsegment |
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485 snapped_x = None |
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486 snapped_y = None |
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487 for spline_ss_index in range(len(ss_spline_d[splineNum][1])): |
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488 if(s < ss_spline_d[splineNum][1][spline_ss_index]): |
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489 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1] |
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490 #Get normal vector and then snap |
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491 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0]) |
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492 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1]) |
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493 magnitude = sqrt(vector_l_x**2 + vector_l_y**2) |
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494 n_vector_x = vector_l_x/magnitude |
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495 n_vector_y = vector_l_y/magnitude |
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496 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x |
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497 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y |
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|
498 |
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499 #Real values (including orthogonal projection of y)) |
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500 real_x = snapped_x - y*n_vector_y |
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501 real_y = snapped_y + y*n_vector_x |
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|
502 break |
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changeset
|
503 |
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diff
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|
504 if mode == 0 or (not snapped_x): |
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|
505 if(not snapped_x): |
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506 snapped_x = splines[splineNum][-1][0] |
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507 snapped_y = splines[splineNum][-1][1] |
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diff
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|
508 return [snapped_x,snapped_y] |
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diff
changeset
|
509 else: |
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|
510 return [real_x,real_y] |
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parents:
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diff
changeset
|
511 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
512 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
513 class NormAngle(object): |
288
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updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
514 '''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
|
515 |
250
59f547aebaac
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
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|
516 def __init__(self, norm, angle): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
517 self.norm = norm |
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modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
518 self.angle = angle |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
519 |
59f547aebaac
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parents:
249
diff
changeset
|
520 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
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249
diff
changeset
|
521 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
522 norm = p.norm2() |
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modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
523 if norm > 0: |
259
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
258
diff
changeset
|
524 angle = atan2(p.y, p.x) |
339 | 525 else: |
526 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
527 return NormAngle(norm, angle) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
528 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
529 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
530 '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
|
531 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
|
532 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
533 def getPoint(self): |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
534 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
|
535 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
536 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
537 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
|
538 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
539 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
540 |
59f547aebaac
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
541 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
|
542 '''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
|
543 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
|
544 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
|
545 predictedSpeedTheta = speedOrientation+control |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
546 if maxSpeed: |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
547 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
|
548 predictedPosition = position+predictedSpeedTheta.getPoint() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
549 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
550 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
551 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
552 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
553 '''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
|
554 ie a position and a velocity''' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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182
diff
changeset
|
555 def __init__(self, position, velocity): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
556 'position and velocity should be Point instances' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
557 self.position = position |
d70e9b36889c
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parents:
182
diff
changeset
|
558 self.velocity = velocity |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
559 |
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initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
560 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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|
561 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
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|
562 |
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parents:
182
diff
changeset
|
563 def multiply(self, alpha): |
d70e9b36889c
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parents:
182
diff
changeset
|
564 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
d70e9b36889c
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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182
diff
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|
565 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
566 def plot(self, options = '', **kwargs): |
211 | 567 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
|
568 self.position.plot(options+'x', **kwargs) |
184
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|
569 |
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diff
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|
570 @staticmethod |
d70e9b36889c
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parents:
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diff
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|
571 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
d70e9b36889c
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parents:
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|
572 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
d70e9b36889c
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diff
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|
573 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
574 def intersection(p1, p2, p3, p4): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
575 ''' 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
|
576 http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
577 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
578 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
579 #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
|
580 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
|
581 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
|
582 return None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
583 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
584 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
585 return p1+dp12.multiply(ua) |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
586 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
587 # def intersection(p1, p2, dp1, dp2): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
588 # '''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
|
589 # 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
|
590 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
591 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
592 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
593 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
594 # 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
|
595 # [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
|
596 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
597 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
598 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
599 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
600 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
601 # 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
|
602 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
603 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
|
604 '''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
|
605 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
606 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
|
607 return None |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
608 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
609 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
|
610 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
|
611 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
|
612 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
|
613 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
|
614 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
|
615 return inter |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
616 else: |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
617 return None |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
618 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
619 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
|
620 '''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
|
621 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
|
622 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
|
623 return inter |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
624 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
625 return None |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
626 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
627 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
628 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
629 '''Class for trajectories: temporal sequence of positions |
22 | 630 |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
631 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
632 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
633 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
|
634 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
|
635 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
636 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
637 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
638 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
639 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
640 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
|
641 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
642 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
|
643 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
644 for i in xrange(nPoints-1): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
645 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
646 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
647 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
|
648 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
649 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
650 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
651 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
|
652 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
653 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
654 @staticmethod |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
655 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
656 t = Trajectory() |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
657 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
|
658 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
659 t.addPositionXY(p[0],p[1]) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
660 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
661 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
662 t.addPosition(p) |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
663 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
664 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
665 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
666 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
667 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
668 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
669 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
670 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
671 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
|
672 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
|
673 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
674 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
|
675 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
|
676 return Point(self.positions[0][i], self.positions[1][i]) |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
677 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
678 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
679 #elif isinstance( key, slice ): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
680 |
16 | 681 def __str__(self): |
39 | 682 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 683 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
684 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
|
685 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
686 |
22 | 687 def __iter__(self): |
688 self.iterInstantNum = 0 | |
689 return self | |
690 | |
691 def next(self): | |
692 if self.iterInstantNum >= self.length(): | |
693 raise StopIteration | |
694 else: | |
695 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
696 return self[self.iterInstantNum-1] |
22 | 697 |
776
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
698 def __eq__(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
699 if self.length() == other.length(): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
700 result = True |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
701 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
|
702 result = result and (p == po) |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
703 return result |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
704 else: |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
705 return False |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
706 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
707 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
708 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
709 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
710 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
711 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
712 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
713 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
714 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
715 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
|
716 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
717 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
718 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
719 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
|
720 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
|
721 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
722 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
723 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
|
724 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
|
725 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
726 @staticmethod |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
727 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **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
|
728 if lastCoordinate is None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
729 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
|
730 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
731 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
|
732 if withOrigin: |
211 | 733 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
734 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
735 def project(self, homography): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
736 return Trajectory(cvutils.projectTrajectory(homography, self.positions).tolist()) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
737 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
738 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
739 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
740 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
741 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
742 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
743 |
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
|
744 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
745 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
|
746 [x*nPixelsPerUnitDistance for x in self.positions[1]]] |
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
|
747 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
748 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
749 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
750 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
751 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
752 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
753 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
|
754 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
755 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
|
756 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
757 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
758 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
759 # 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
|
760 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
761 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
762 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
763 # 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
|
764 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
765 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
766 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
767 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
768 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
769 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
770 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
771 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
772 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
|
773 [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
|
774 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
775 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
776 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
777 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
778 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
779 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
780 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
781 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
|
782 [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
|
783 |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
784 def multiply(self, alpha): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
785 '''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
|
786 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
|
787 [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
|
788 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
789 def differentiate(self, doubleLastPosition = False): |
339 | 790 diff = Trajectory() |
791 for i in xrange(1, self.length()): | |
792 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
|
793 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
794 diff.addPosition(diff[-1]) |
339 | 795 return diff |
796 | |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
797 def differentiateSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='interp', cval=0.0, removeBothEnds = 2): |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
798 '''Differentiates the trajectory using the Savitsky Golay filter |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
799 |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
800 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
|
801 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
|
802 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
|
803 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
|
804 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
|
805 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. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
806 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0.''' |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
807 from scipy.signal import savgol_filter |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
808 |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
809 if removeBothEnds >=1: |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
810 pos = [self.positions[0][removeBothEnds:-removeBothEnds], |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
811 self.positions[1][removeBothEnds:-removeBothEnds]] |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
812 else: |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
813 pos = self.positions |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
814 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
|
815 return Trajectory(filtered) |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
816 |
16 | 817 def norm(self): |
818 '''Returns the list of the norms at each instant''' | |
819 # def add(x, y): return x+y | |
820 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
821 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
822 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
823 |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
824 # def cumulatedDisplacement(self): |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
825 # 'Returns the sum of the distances between each successive point' |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
826 # displacement = 0 |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
827 # for i in xrange(self.length()-1): |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
828 # displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
829 # return displacement |
49 | 830 |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
831 def computeCumulativeDistances(self): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
832 '''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
|
833 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
|
834 self.distances = [] |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
835 self.cumulativeDistances = [0.] |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
836 p1 = self[0] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
837 cumulativeDistance = 0. |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
838 for i in xrange(self.length()-1): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
839 p2 = self[i+1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
840 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
|
841 cumulativeDistance += self.distances[-1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
842 self.cumulativeDistances.append(cumulativeDistance) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
843 p1 = p2 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
844 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
845 def getDistance(self,i): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
846 '''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
|
847 if i < self.length()-1: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
848 return self.distances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
849 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
850 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
|
851 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
852 def getCumulativeDistance(self, i): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
853 '''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
|
854 if i < self.length(): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
855 return self.cumulativeDistances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
856 else: |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
857 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
|
858 |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
859 def getMaxDistance(self, metric): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
860 'Returns the maximum distance between points in the trajectory' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
861 positions = self.getPositions().asArray().T |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
862 return cdist(positions, positions, metric = metric).max() |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
863 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
864 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
865 '''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
|
866 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
|
867 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
868 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
869 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
870 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
871 count += 1 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
872 return count >= lengthThreshold |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
873 |
49 | 874 def wiggliness(self): |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
875 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
|
876 if straightDistance > 0: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
877 return self.getCumulativeDistance(self.length()-1)/float(straightDistance) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
878 else: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
879 return None |
49 | 880 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
881 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
882 '''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
|
883 intersects with the segment of extremities p1 and p2 |
771 | 884 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
|
885 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
|
886 intersections = [] |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
887 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
888 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
889 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
890 q2=self.__getitem__(i+1) |
771 | 891 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
|
892 if p is not None: |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
893 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
894 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
895 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
896 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
897 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
898 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
899 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
|
900 intersections.append(p) |
771 | 901 return indices, intersections |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
902 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
903 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
|
904 '''Returns a list of the indices at which the trajectory |
771 | 905 intersects with the line going through p1 and p2 |
906 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
|
907 indices = [] |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
908 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
|
909 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
910 for i in xrange(self.length()-1): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
911 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
|
912 q2=self.__getitem__(i+1) |
771 | 913 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
|
914 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
|
915 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
|
916 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
|
917 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
|
918 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
|
919 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
920 ratio = 0 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
921 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
|
922 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
|
923 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
|
924 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
925 def getTrajectoryInInterval(self, inter): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
926 '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
|
927 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
|
928 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
|
929 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
|
930 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
931 return None |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
932 |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
933 def subSample(self, step): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
934 'Returns the positions very step' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
935 return Trajectory([self.positions[0][::step], |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
936 self.positions[1][::step]]) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
937 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
938 if shapelyAvailable: |
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
|
939 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
|
940 '''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
|
941 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
|
942 |
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
|
943 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
|
944 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
|
945 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
|
946 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
|
947 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
|
948 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
|
949 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
|
950 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
|
951 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
|
952 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
|
953 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
|
954 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
|
955 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
|
956 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
957 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
958 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
|
959 inPolygon = [polygon.contains(shapelyPoint(x, y)) for x, y in zip(self.positions[0], self.positions[1])] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
960 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
|
961 return sum(inPolygon) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
962 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
|
963 def getTrajectoryInPolygon(self, polygon, t2 = None): |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
964 '''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
|
965 (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
|
966 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
|
967 inPolygon = [] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
968 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
|
969 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
|
970 if inPolygon[-1]: |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
971 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
|
972 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
|
973 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
|
974 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
|
975 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
|
976 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
|
977 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
978 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
979 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
|
980 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
|
981 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
|
982 return sum(inPolygon) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
983 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
984 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
985 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
986 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
987 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
988 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
989 '''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
|
990 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
991 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
992 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
993 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
|
994 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
|
995 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
|
996 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
|
997 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
|
998 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
999 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
|
1000 if lanes is None or len(lanes) != 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
|
1001 self.lanes = [] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1002 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1003 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1004 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1005 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
|
1006 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
|
1007 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
|
1008 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1009 raise TypeError, "Invalid argument type." |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1010 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1011 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1012 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1013 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1014 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1015 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1016 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1017 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1018 def addPositionSYL(self, s, y, lane): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1019 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1020 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1021 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1022 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
|
1023 '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
|
1024 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
|
1025 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1026 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
|
1027 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1028 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1029 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1030 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1031 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
|
1032 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1033 p1 = self[0] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1034 for i in xrange(1, self.length()): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1035 p2 = self[i] |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1036 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], p1[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1037 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
|
1038 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
|
1039 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
|
1040 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1041 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1042 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1043 '''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
|
1044 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
|
1045 (in provided lane if lane is not None) |
771 | 1046 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
|
1047 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1048 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1049 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1050 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
|
1051 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
|
1052 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
|
1053 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1054 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1055 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1056 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1057 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1058 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1059 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
|
1060 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1061 '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
|
1062 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1063 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1064 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1065 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1066 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1067 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1068 |
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
|
1069 class MovingObject(STObject, VideoFilenameAddable): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
1070 '''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
|
1071 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
|
1072 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
|
1073 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1074 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
1075 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
1076 super(MovingObject, self).__init__(num, timeInterval) |
16 | 1077 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1078 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1079 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1080 self.userType = userType |
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
|
1081 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1082 # compute bounding polygon from trajectory |
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
|
1083 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1084 @staticmethod |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1085 def generate(p, v, timeInterval): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1086 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1087 return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1088 |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1089 @staticmethod |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1090 def concatenate(obj1, obj2, num = None): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1091 '''Concatenates two objects supposed to overlap temporally ''' |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1092 commonTimeInterval = obj1.commonTimeInterval(obj2) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1093 if commonTimeInterval.empty(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1094 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval())) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1095 return None |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1096 else: |
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
|
1097 if num is None: |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1098 newNum = obj1.getNum() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1099 else: |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1100 newNum = num |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1101 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval()) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1102 # positions |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1103 positions = Trajectory() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1104 for t in newTimeInterval: |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1105 nTotal = 0. |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1106 p = Point(0.,0.) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1107 for obj in [obj1, obj2]: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1108 if obj.existsAtInstant(t): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1109 if obj.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1110 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1111 else: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1112 n = 1. |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1113 p += obj.getPositionAtInstant(t).multiply(n) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1114 nTotal += n |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1115 assert nTotal>0, 'there should be at least one point for each instant' |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1116 positions.addPosition(p.divide(nTotal)) |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1117 # velocities: if any |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1118 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1119 velocities = Trajectory() |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1120 for t in newTimeInterval: |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1121 nTotal = 0. |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1122 p = Point(0.,0.) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1123 for obj in [obj1, obj2]: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1124 if obj.existsAtInstant(t): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1125 if obj.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1126 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1127 else: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1128 n = 1. |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1129 p += obj.getVelocityAtInstant(t).multiply(n) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1130 nTotal += n |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1131 assert n>0, 'there should be at least one point for each instant' |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1132 velocities.addPosition(p.divide(nTotal)) |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1133 else: |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1134 velocities = None |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1135 # TODO object envelop (polygon) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1136 # user type |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1137 if obj1.getUserType() != obj2.getUserType(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1138 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()])) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1139 |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1140 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType()) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1141 if obj1.hasFeatures() and obj2.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1142 newObject.features = obj1.getFeatures()+obj2.getFeatures() |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1143 return newObject |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1144 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1145 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1146 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1147 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
|
1148 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
|
1149 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1150 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1151 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1152 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1153 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1154 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1155 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1156 print 'The object does not exist at '+str(inter) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1157 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1158 |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1159 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
|
1160 '''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
|
1161 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
|
1162 if homography is not None: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1163 self.projectedPositions = self.positions.project(homography) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1164 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1165 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
|
1166 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
|
1167 p = positions[i] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1168 return mask[p.y, p.x] != 0. |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1169 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1170 #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
|
1171 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
|
1172 # '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
|
1173 l = 0 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1174 intervalLabels = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1175 prev = True |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1176 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
|
1177 if i: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1178 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
|
1179 l += 1 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1180 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
|
1181 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1182 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
|
1183 prev = i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1184 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
|
1185 subObjects = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1186 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
|
1187 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
|
1188 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
|
1189 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
|
1190 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
|
1191 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
|
1192 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1193 return subObjects |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1194 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1195 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1196 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1197 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1198 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1199 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1200 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1201 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
|
1202 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
|
1203 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1204 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1205 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1206 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1207 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1208 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1209 |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1210 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
|
1211 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
|
1212 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
|
1213 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
|
1214 if withOrigin: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1215 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
|
1216 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1217 instants = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1218 coords = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1219 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
|
1220 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
|
1221 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
|
1222 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
|
1223 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1224 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
|
1225 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
|
1226 plot(instants, coords, options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1227 if withOrigin and len(instants)>0: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1228 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
|
1229 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1230 print('Object {} has no curvilinear positions'.format(self.getNum())) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1231 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1232 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
|
1233 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
|
1234 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1235 def setFeatures(self, features): |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1236 self.features = [features[i] for i in self.featureNumbers] |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1237 |
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
|
1238 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
|
1239 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
|
1240 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1241 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
|
1242 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
|
1243 |
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
|
1244 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
|
1245 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
|
1246 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
|
1247 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
|
1248 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
|
1249 |
666
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1250 def getFeatureNumbers(self): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1251 '''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
|
1252 dict instant -> number of features''' |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1253 if self.hasFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1254 featureNumbers = {} |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1255 for t in self.getTimeInterval(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1256 n = 0 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1257 for f in self.getFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1258 if f.existsAtInstant(t): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1259 n += 1 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1260 featureNumbers[t]=n |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1261 return featureNumbers |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1262 else: |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1263 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
|
1264 return None |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1265 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1266 def getSpeeds(self, nInstantsIgnoredAtEnds = 0): |
682 | 1267 speeds = self.getVelocities().norm() |
1268 if nInstantsIgnoredAtEnds > 0: | |
1269 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.))) | |
1270 return speeds[n:-n] | |
1271 else: | |
1272 return speeds | |
49 | 1273 |
633
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1274 def getSpeedIndicator(self): |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1275 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
|
1276 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
|
1277 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1278 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1279 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1280 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1281 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1282 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1283 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1284 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1285 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
|
1286 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1287 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1288 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
|
1289 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1290 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1291 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1292 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1293 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1294 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1295 |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1296 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
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
|
1297 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
|
1298 for f in self.getFeatures(): |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1299 f.positions.plot('r', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1300 self.positions.plot('bx-', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1301 else: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1302 self.positions.plot(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
1303 |
621
582508610572
merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1304 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): |
582508610572
merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1305 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) |
22 | 1306 |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1307 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
|
1308 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
|
1309 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1310 def speedDiagnostics(self, framerate = 1., display = False): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1311 speeds = framerate*self.getSpeeds() |
377 | 1312 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 1313 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 | 1314 if display: |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
1315 from matplotlib.pyplot import figure, axis |
377 | 1316 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1317 self.plot() |
379 | 1318 axis('equal') |
377 | 1319 figure(2) |
1320 plot(list(self.getTimeInterval()), speeds) | |
1321 | |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1322 @staticmethod |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1323 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
|
1324 '''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
|
1325 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
|
1326 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
|
1327 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
|
1328 maxDistance = minDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1329 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
|
1330 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
|
1331 if d<minDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1332 minDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1333 elif d>maxDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1334 maxDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1335 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
|
1336 else: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1337 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
|
1338 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1339 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1340 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
|
1341 '''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
|
1342 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
|
1343 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
|
1344 if _instant2 is None: |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1345 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1346 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1347 instant2 = _instant2 |
546 | 1348 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1349 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1350 return cdist(positions1, positions2, metric = 'euclidean') | |
1351 | |
1352 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1353 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1354 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1355 |
1356 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1357 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1358 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
|
1359 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1360 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1361 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1362 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
|
1363 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1364 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1365 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1366 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1367 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
|
1368 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1369 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1370 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1371 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1372 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1373 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
|
1374 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>
diff
changeset
|
1375 |
550 | 1376 def setRoutes(self, startRouteID, endRouteID): |
1377 self.startRouteID = startRouteID | |
1378 self.endRouteID = endRouteID | |
546 | 1379 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1380 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
|
1381 '''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
|
1382 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
|
1383 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
|
1384 indices, intersections = self.positions.getIntersections(p1, p2) |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1385 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1386 |
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
|
1387 @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
|
1388 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
|
1389 '''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
|
1390 |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1391 Returns the smallest time difference when the object positions are within collisionDistanceThreshold''' |
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
|
1392 #for i in xrange(int(obj1.length())-1): |
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
|
1393 # for j in xrange(int(obj2.length())-1): |
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
|
1394 # inter = segmentIntersection(obj1.getPositionAt(i), obj1.getPositionAt(i+1), obj2.getPositionAt(i), obj2.getPositionAt(i+1)) |
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
|
1395 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
|
1396 positions2 = [p.astuple() for p in obj2.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
|
1397 pets = zeros((int(obj1.length()), int(obj2.length()))) |
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
|
1398 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
|
1399 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
|
1400 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
|
1401 distances = cdist(positions1, positions2, metric = 'euclidean') |
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
|
1402 if distances.min() <= collisionDistanceThreshold: |
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
|
1403 return pets[distances <= collisionDistanceThreshold].min() |
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
|
1404 else: |
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
|
1405 return None |
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
|
1406 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1407 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
|
1408 '''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
|
1409 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1410 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
|
1411 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1412 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
|
1413 ''' 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
|
1414 (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
|
1415 curvilinear coordinates using alignment metadata. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1416 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
|
1417 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1418 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1419 Input: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1420 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1421 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
|
1422 points (class Point). |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1423 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
|
1424 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
|
1425 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
|
1426 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1427 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1428 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1429 self.curvilinearPositions = CurvilinearTrajectory() |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1430 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1431 #For each point |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1432 for i in xrange(int(self.length())): |
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1433 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
|
1434 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1435 # 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
|
1436 if(result is None): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1437 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
|
1438 else: |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1439 [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
|
1440 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
|
1441 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1442 ## 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
|
1443 #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
|
1444 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
|
1445 ## Recalculate projected point to new lane |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1446 lanes = self.curvilinearPositions.getLanes() |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1447 if(lanes != smoothed_lanes): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1448 for i in xrange(len(lanes)): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1449 if(lanes[i] != smoothed_lanes[i]): |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1450 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
|
1451 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1452 # 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
|
1453 if(result is None): |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1454 ## 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
|
1455 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
|
1456 else: |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1457 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1458 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
|
1459 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1460 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1461 '''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
|
1462 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
|
1463 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1464 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1465 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1466 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1467 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1468 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1469 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1470 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1471 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1472 for i in xrange(nFeatures): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1473 for j in xrange(i): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1474 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1475 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1476 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1477 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1478 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
|
1479 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
|
1480 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
|
1481 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
|
1482 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
|
1483 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1484 |
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
|
1485 ### |
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
|
1486 # 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
|
1487 ### |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1488 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
|
1489 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1490 slow: non-motorized -> pedestrians |
607 | 1491 fast: motorized -> cars |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1492 |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1493 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
|
1494 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
|
1495 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
|
1496 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1497 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1498 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1499 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1500 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1501 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
|
1502 '''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
|
1503 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
|
1504 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
|
1505 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
|
1506 |
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
|
1507 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
|
1508 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
|
1509 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
|
1510 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
|
1511 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
|
1512 return x''' |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1513 if not hasattr(self, 'aggregatedSpeed'): |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1514 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
581
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1515 userTypeProbabilities = {} |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1516 for userTypename in speedProbabilities: |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1517 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
|
1518 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
|
1519 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
|
1520 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1521 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), 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
|
1522 '''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
|
1523 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1524 TODO? compute speed for longest feature?''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1525 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1526 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1527 self.appearanceClassifier = pedBikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1528 elif self.aggregatedSpeed < bikeCarSpeedThreshold: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1529 self.appearanceClassifier = bikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1530 else: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1531 class CarClassifier: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1532 def predict(self, hog): |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1533 return userType2Num['car'] |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1534 self.appearanceClassifier = CarClassifier() |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1535 |
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
|
1536 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
|
1537 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1538 def classifyUserTypeHoGSVMAtInstant(self, img, instant, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800): |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1539 '''Extract the image box around the object and |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1540 applies the SVM model on it''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1541 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = cvutils.imageBox(img, self, instant, homography, width, height, px, py, minNPixels) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
682
diff
changeset
|
1542 if croppedImg is not None and len(croppedImg) > 0: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1543 hog = cvutils.HOG(croppedImg)#HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1544 self.userTypes[instant] = int(self.appearanceClassifier.predict(hog)) |
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
|
1545 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
|
1546 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
|
1547 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1548 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, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800): |
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
|
1549 '''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
|
1550 (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
|
1551 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1552 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
|
1553 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
|
1554 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1555 Considered categories are the keys of speedProbabilities''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1556 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'): |
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
|
1557 print('Initilize the data structures for classification by HoG-SVM') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1558 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
|
1559 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1560 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
|
1561 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
|
1562 if t not in self.userTypes: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1563 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels) |
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
|
1564 # compute P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1565 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
|
1566 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
|
1567 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
|
1568 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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
|
1569 # result is P(Class|Appearance) x P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1570 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename |
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
|
1571 for t in self.userTypes: |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1572 nInstantsUserType[self.userTypes[t]] = nInstantsUserType.get(self.userTypes[t], 0) + 1 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1573 for userTypeNum in userTypeProbabilities: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1574 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
|
1575 # class is the user type that maximizes usertype probabilities |
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
|
1576 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
|
1577 |
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
|
1578 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
|
1579 '''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
|
1580 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
|
1581 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
|
1582 |
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
|
1583 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
|
1584 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
|
1585 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
|
1586 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
|
1587 if homography is not 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
|
1588 self.projectedPositions = obj.positions.project(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
|
1589 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
|
1590 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1591 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
|
1592 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
|
1593 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
|
1594 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
|
1595 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
|
1596 # 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
|
1597 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1598 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1599 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1600 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1601 '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
|
1602 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
|
1603 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
|
1604 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
|
1605 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1606 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1607 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1608 '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
|
1609 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
|
1610 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
|
1611 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1612 |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1613 ################## |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1614 # Annotations |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1615 ################## |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1616 |
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
|
1617 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
|
1618 '''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
|
1619 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
|
1620 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
|
1621 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1622 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
|
1623 |
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
|
1624 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
|
1625 (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
|
1626 ''' |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1627 |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1628 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
|
1629 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
|
1630 self.topLeftPositions = topLeftPositions.getPositions() |
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1631 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
|
1632 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1633 def computeCentroidTrajectory(self, homography = None): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1634 self.positions = self.topLeftPositions.add(self.bottomRightPositions).multiply(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
|
1635 if homography is not None: |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1636 self.positions = self.positions.project(homography) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1637 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1638 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
|
1639 '''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
|
1640 with threshold matchingDistance |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1641 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
|
1642 (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
|
1643 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
|
1644 if d < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1645 return d |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1646 else: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1647 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
|
1648 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1649 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
|
1650 '''Computes the CLEAR MOT metrics |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1651 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1652 Reference: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1653 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
|
1654 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1655 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
|
1656 current implementation is BBMovingObject (bounding boxes) |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1657 mathingDistance is threshold on matching between annotation and object |
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1658 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1659 TO: tracker output (objects) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1660 GT: ground truth (annotations) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1661 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1662 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
|
1663 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
|
1664 mme number of mismatches |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1665 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
|
1666 gt number of GT.frames |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1667 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1668 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
|
1669 matches is a dict |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1670 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
|
1671 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
|
1672 (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
|
1673 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1674 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
|
1675 (add argument useDistanceForWeights = False)''' |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1676 from munkres import Munkres |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1677 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1678 munk = Munkres() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1679 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
|
1680 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
|
1681 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
|
1682 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)
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parents:
593
diff
changeset
|
1683 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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593
diff
changeset
|
1684 mme = 0 # number of mismatches |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1685 matches = {} # match[i] is the tracker track associated with GT i (using object references) |
723
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1686 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1687 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
|
1688 toMatches = {o.getNum():{} for o in objects} |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1689 for t in xrange(firstInstant, lastInstant+1): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1690 previousMatches = matches.copy() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1691 # 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
|
1692 toDelete = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1693 for a in matches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1694 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
|
1695 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
|
1696 if d < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1697 dist += d |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1698 else: |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1699 toDelete.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1700 else: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1701 toDelete.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1702 for a in toDelete: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1703 del matches[a] |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1704 |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1705 # match all unmatched GT-TO |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1706 matchedGTs = matches.keys() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1707 matchedTOs = matches.values() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1708 costs = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1709 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
|
1710 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
|
1711 nGTs = len(matchedGTs)+len(unmatchedGTs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1712 nTOs = len(matchedTOs)+len(unmatchedTOs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1713 if len(unmatchedTOs) > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1714 for a in unmatchedGTs: |
595
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1715 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
|
1716 if len(costs) > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1717 newMatches = munk.compute(costs) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1718 for k,v in newMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1719 if costs[k][v] < matchingDistance: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1720 matches[unmatchedGTs[k]]=unmatchedTOs[v] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1721 dist += costs[k][v] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1722 if debug: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1723 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.iteritems()])) |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1724 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1725 for a,o in matches.iteritems(): |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1726 gtMatches[a.getNum()][t] = o.getNum() |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1727 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
|
1728 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1729 # compute metrics elements |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1730 ct += len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1731 mt += nGTs-len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1732 fpt += nTOs-len(matches) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1733 gt += nGTs |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1734 # compute mismatches |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1735 # 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
|
1736 mismatches = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1737 for a in matches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1738 if a in previousMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1739 if matches[a] != previousMatches[a]: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1740 mismatches.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1741 elif matches[a] in previousMatches.values(): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1742 mismatches.append(matches[a]) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1743 for a in previousMatches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1744 if a not in matches and previousMatches[a] in matches.values(): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1745 mismatches.append(previousMatches[a]) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1746 if debug: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1747 for mm in set(mismatches): |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1748 print type(mm), mm.getNum() |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1749 # 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
|
1750 mme += len(set(mismatches)) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1751 |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1752 if ct > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1753 motp = dist/ct |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1754 else: |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1755 motp = None |
595
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1756 if gt > 0: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1757 mota = 1.-float(mt+fpt+mme)/gt |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1758 else: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
changeset
|
1759 mota = None |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1760 if returnMatches: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1761 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1762 else: |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1763 return motp, mota, mt, mme, fpt, gt |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
1764 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1765 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
|
1766 '''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
|
1767 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
|
1768 figure() |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1769 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1770 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
|
1771 axis('equal') |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1772 |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1773 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1774 if __name__ == "__main__": |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1775 import doctest |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1776 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1777 suite = doctest.DocFileSuite('tests/moving.txt') |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1778 #suite = doctest.DocTestSuite() |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1779 unittest.TextTestRunner().run(suite) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1780 #doctest.testmod() |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1781 #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
|
1782 if shapelyAvailable: |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1783 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
|
1784 unittest.TextTestRunner().run(suite) |