repo/traffic-intelligence: python/moving.py annotate

annotate python/moving.py @ 776:84420159c5f4 dev

added __eq__ functions for Point and Trajectory

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Fri, 05 Feb 2016 17:17:12 -0500
parents	bd13937818a4
children	1b22d81ef5ff

rev	line source
0 aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Libraries for moving objects, trajectories...'''
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	3
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	4 import utils, cvutils
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 664 diff changeset	5 from base import VideoFilenameAddable
0 aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	6
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 666 diff changeset	7 from math import sqrt, atan2, cos, sin
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 666 diff changeset	9 from matplotlib.pyplot import plot
5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 666 diff changeset	10 from scipy.stats import scoreatpercentile
5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 666 diff changeset	11 from scipy.spatial.distance import cdist
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	12
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	13 try:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	14 from shapely.geometry import Polygon, Point as shapelyPoint
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	15 from shapely.prepared import prep
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	16 shapelyAvailable = True
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	17 except ImportError:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	18 print('Shapely library could not be loaded')
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	19 shapelyAvailable = False
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	20
0 aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	21
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	22 class Interval(object):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	23 '''Generic interval: a subset of real numbers (not iterable)'''
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	24 def __init__(self, first=0, last=-1, revert = False):
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	25 if revert and last<first:
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	26 self.first=last
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	27 self.last=first
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	28 else:
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	29 self.first=first
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	30 self.last=last
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	31
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	32 def __str__(self):
104 13187af8622d finally added the representation of intervals Nicolas Saunier <nico@confins.net> parents: 98 diff changeset	33 return '[{0}, {1}]'.format(self.first, self.last)
13187af8622d finally added the representation of intervals Nicolas Saunier <nico@confins.net> parents: 98 diff changeset	34
13187af8622d finally added the representation of intervals Nicolas Saunier <nico@confins.net> parents: 98 diff changeset	35 def __repr__(self):
13187af8622d finally added the representation of intervals Nicolas Saunier <nico@confins.net> parents: 98 diff changeset	36 return self.__str__()
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	37
776 84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	38 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	39 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first))
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	40
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	41 def empty(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	42 return self.first > self.last
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	43
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	44 def center(self):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	45 return (self.first+self.last)/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	46
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	47 def length(self):
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	48 '''Returns the length of the interval'''
91 daa05fae1a70 modified the type of the result of interval lengths to float, added comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 90 diff changeset	49 return float(max(0,self.last-self.first))
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	50
96 9928c2fa72cc added equal method to intervals Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 93 diff changeset	51 def equal(self, i2):
9928c2fa72cc added equal method to intervals Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 93 diff changeset	52 return self.first==i2.first and self.last == i2.last
9928c2fa72cc added equal method to intervals Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 93 diff changeset	53
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	54 def getList(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	55 return [self.first, self.last]
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	56
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	57 def contains(self, instant):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	58 return (self.first<=instant and self.last>=instant)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	59
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	60 def inside(self, interval2):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	61 '''Indicates if the temporal interval of self is comprised in interval2'''
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	62 return (self.first >= interval2.first) and (self.last <= interval2.last)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	63
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	64 @classmethod
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	65 def union(cls, interval1, interval2):
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	66 '''Smallest interval comprising self and interval2'''
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	67 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last))
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	68
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	69 @classmethod
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	70 def intersection(cls, interval1, interval2):
104 13187af8622d finally added the representation of intervals Nicolas Saunier <nico@confins.net> parents: 98 diff changeset	71 '''Largest interval comprised in both self and interval2'''
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	72 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	73
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	74 def distance(self, interval2):
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	75 if not Interval.intersection(self, interval2).empty():
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	76 return 0
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	77 elif self.first > interval2.last:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	78 return self.first - interval2.last
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	79 elif self.last < interval2.first:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	80 return interval2.first - self.last
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	81 else:
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	82 return None
571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	83
727 c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	84 @classmethod
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	85 def unionIntervals(cls, intervals):
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	86 'returns the smallest interval containing all intervals'
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	87 inter = cls(intervals[0].first, intervals[0].last)
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	88 for i in intervals[1:]:
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	89 inter = cls.union(inter, i)
c6d4ea05a2d0 adding ability to deal with multivariate indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 726 diff changeset	90 return inter
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	91
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	92
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	93 class TimeInterval(Interval):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	94 '''Temporal interval: set of instants at fixed time step, between first and last, included
e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	95
e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	96 For example: based on frame numbers (hence the modified length method)
e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	97 It may be modified directly by setting first and last'''
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	98
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	99 def __init__(self, first=0, last=-1):
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	100 super(TimeInterval, self).__init__(first, last, False)
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	101
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	102 @staticmethod
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	103 def fromInterval(inter):
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	104 return TimeInterval(inter.first, inter.last)
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	105
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	106 def __getitem__(self, i):
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	107 if not self.empty():
526 21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	108 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	109 return self.first+i
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	110 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	111 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	112 #elif isinstance( key, slice ):
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	113
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	114 def __iter__(self):
107 916678481896 corrected bug for TimeInterval interation and added corresponding test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 105 diff changeset	115 self.iterInstantNum = -1
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	116 return self
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	117
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	118 def next(self):
67 ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	119 if self.iterInstantNum >= self.length()-1:
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	120 raise StopIteration
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	121 else:
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	122 self.iterInstantNum += 1
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	123 return self[self.iterInstantNum]
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	124
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	125 def length(self):
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	126 '''Returns the length of the interval'''
91 daa05fae1a70 modified the type of the result of interval lengths to float, added comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 90 diff changeset	127 return float(max(0,self.last-self.first+1))
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	128
688 f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	129 def __len__(self):
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	130 return self.length()
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	131
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	132 # class BoundingPolygon:
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	133 # '''Class for a polygon bounding a set of points
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	134 # with methods to create intersection, unions...
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	135 # '''
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	136 # We will use the polygon class of Shapely
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	137
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	138 class STObject(object):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	139 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
6 597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	140 (time interval and bounding polygon for positions (e.g. rectangle)).
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	141
e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	142 It may not mean that the object is defined
6 597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	143 for all time instants within the time interval'''
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	144
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	145 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	146 self.num = num
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	147 self.timeInterval = timeInterval
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	148 self.boundingPolygon = boundingPolygon
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	149
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	150 def empty(self):
688 f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	151 return self.timeInterval.empty()# or not self.boudingPolygon
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	152
329 a70c205ebdd9 added sqlite code, in particular to load and save road user type Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 327 diff changeset	153 def getNum(self):
211 ada6e8fbe4c6 2 Changes : Francois Belisle <belisle.francois@gmail.com> parents: 203 diff changeset	154 return self.num
ada6e8fbe4c6 2 Changes : Francois Belisle <belisle.francois@gmail.com> parents: 203 diff changeset	155
688 f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	156 def __len__(self):
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	157 return self.timeInterval.length()
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	158
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	159 def length(self):
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	160 return self.timeInterval.length()
f2b52355a286 made length a STObject method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 685 diff changeset	161
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	162 def getFirstInstant(self):
40 9f16aee24b7e corrected bug for first and last of TimeInterval Nicolas Saunier <nico@confins.net> parents: 39 diff changeset	163 return self.timeInterval.first
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	164
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	165 def getLastInstant(self):
40 9f16aee24b7e corrected bug for first and last of TimeInterval Nicolas Saunier <nico@confins.net> parents: 39 diff changeset	166 return self.timeInterval.last
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	167
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	168 def getTimeInterval(self):
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	169 return self.timeInterval
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	170
108 6efe470ea5e5 added test existsAtInstant to STObject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 107 diff changeset	171 def existsAtInstant(self, t):
6efe470ea5e5 added test existsAtInstant to STObject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 107 diff changeset	172 return self.timeInterval.contains(t)
6efe470ea5e5 added test existsAtInstant to STObject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 107 diff changeset	173
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	174 def commonTimeInterval(self, obj2):
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	175 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	176
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	177 class Point(object):
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	178 def __init__(self, x, y):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	179 self.x = x
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	180 self.y = y
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	181
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	182 def __str__(self):
675 ab3fdff42624 corrected old format for Point.__str__ Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 674 diff changeset	183 return '({:f},{:f})'.format(self.x,self.y)
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	184
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	185 def __repr__(self):
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 97 diff changeset	186 return self.__str__()
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	187
776 84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	188 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	189 return (self.x == other.x) and (self.y == other.y)
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	190
184 d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	191 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	192 return Point(self.x+other.x, self.y+other.y)
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	193
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	194 def __sub__(self, other):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	195 return Point(self.x-other.x, self.y-other.y)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	196
451 cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	197 def __neg__(self):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	198 return Point(-self.x, -self.y)
575 13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	199
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	200 def __getitem__(self, i):
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	201 if i == 0:
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	202 return self.x
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	203 elif i == 1:
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	204 return self.y
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	205 else:
13df64a9ff9d added function to access point class as 2D list Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 574 diff changeset	206 raise IndexError()
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	207
690 463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	208 def orthogonal(self, clockwise = True):
463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	209 'Returns the orthogonal vector'
463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	210 if clockwise:
463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	211 return Point(self.y, -self.x)
463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	212 else:
463150a8e129 minor updates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 688 diff changeset	213 return Point(-self.y, self.x)
451 cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	214
105 9844c69d8fa2 added multiply method to Point Nicolas Saunier <nico@confins.net> parents: 104 diff changeset	215 def multiply(self, alpha):
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	216 'Warning, returns a new Point'
105 9844c69d8fa2 added multiply method to Point Nicolas Saunier <nico@confins.net> parents: 104 diff changeset	217 return Point(self.xalpha, self.yalpha)
9844c69d8fa2 added multiply method to Point Nicolas Saunier <nico@confins.net> parents: 104 diff changeset	218
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	219 def divide(self, alpha):
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	220 'Warning, returns a new Point'
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	221 return Point(self.x/alpha, self.y/alpha)
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	222
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	223 def plot(self, options = 'o', **kwargs):
211 ada6e8fbe4c6 2 Changes : Francois Belisle <belisle.francois@gmail.com> parents: 203 diff changeset	224 plot([self.x], [self.y], options, **kwargs)
41 eb78c6edc0c8 added drawing for Point Nicolas Saunier <nico@confins.net> parents: 40 diff changeset	225
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	226 @staticmethod
bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	227 def plotSegment(p1, p2, options = 'o', **kwargs):
bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	228 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs)
bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	229
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	230 def norm2Squared(self):
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	231 '''2-norm distance (Euclidean distance)'''
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	232 return self.x2+self.y2
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	233
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	234 def norm2(self):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	235 '''2-norm distance (Euclidean distance)'''
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	236 return sqrt(self.norm2Squared())
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	237
284 f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	238 def norm1(self):
f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	239 return abs(self.x)+abs(self.y)
f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	240
f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	241 def normMax(self):
f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	242 return max(abs(self.x),abs(self.y))
f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	243
64 c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	244 def aslist(self):
c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	245 return [self.x, self.y]
c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	246
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 185 diff changeset	247 def astuple(self):
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 185 diff changeset	248 return (self.x, self.y)
e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 185 diff changeset	249
223 c31722fcc9de minor modifications for integer drawing in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 214 diff changeset	250 def asint(self):
c31722fcc9de minor modifications for integer drawing in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 214 diff changeset	251 return Point(int(self.x), int(self.y))
c31722fcc9de minor modifications for integer drawing in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 214 diff changeset	252
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	253 if shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	254 def asShapely(self):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	255 return shapelyPoint(self.x, self.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	256
98 b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 97 diff changeset	257 def project(self, homography):
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 97 diff changeset	258 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 97 diff changeset	259 return Point(projected[0], projected[1])
b85912ab4064 refactored projection functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 97 diff changeset	260
627 82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	261 def inPolygon(self, polygon):
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	262 '''Indicates if the point x, y is inside the polygon
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	263 (array of Nx2 coordinates of the polygon vertices)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	264
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	265 taken from http://www.ariel.com.au/a/python-point-int-poly.html
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 91 diff changeset	266
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	267 Use Polygon.contains if Shapely is installed'''
79 5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	268
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	269 n = polygon.shape[0];
79 5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	270 counter = 0;
5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	271
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	272 p1 = polygon[0,:];
79 5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	273 for i in range(n+1):
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	274 p2 = polygon[i % n,:];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	275 if self.y > min(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	276 if self.y <= max(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	277 if self.x <= max(p1[0],p2[0]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	278 if p1[1] != p2[1]:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	279 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	280 if p1[0] == p2[0] or self.x <= xinters:
79 5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	281 counter+=1;
5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	282 p1=p2
5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	283 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	284
49 1fb5606506ae re-arrangement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 43 diff changeset	285 @staticmethod
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	286 def fromList(p):
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	287 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	288
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	289 @staticmethod
67 ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	290 def dot(p1, p2):
89 f88a19695bba added inner product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 83 diff changeset	291 'Scalar product'
67 ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	292 return p1.xp2.x+p1.yp2.y
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	293
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	294 @staticmethod
90 f84293ad4611 renamed inner to cross product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 89 diff changeset	295 def cross(p1, p2):
f84293ad4611 renamed inner to cross product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 89 diff changeset	296 'Cross product'
89 f88a19695bba added inner product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 83 diff changeset	297 return p1.xp2.y-p1.yp2.x
f88a19695bba added inner product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 83 diff changeset	298
f88a19695bba added inner product Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 83 diff changeset	299 @staticmethod
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	300 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	301 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	302
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	303 @staticmethod
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	304 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	305 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	306
64 c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	307 @staticmethod
357 e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 345 diff changeset	308 def plotAll(points, **kwargs):
64 c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	309 from matplotlib.pyplot import scatter
357 e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 345 diff changeset	310 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64 c75bcdaed00f added functions for plotting points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 62 diff changeset	311
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	312 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	313 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	314 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	315
464 dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	316 @staticmethod
484 6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	317 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504 a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	318 '''Computes exact time to collision with a distance threshold
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	319 The unknown of the equation is the time to reach the intersection
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	320 between the relative trajectory of one road user
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	321 and the circle of radius collisionThreshold around the other road user'''
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	322 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	323 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 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 = 2Point.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() - collisionThreshold2#(p1.x-p2.x)2 + (p1.y-p2.y)2 - collisionThreshold2
464 dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	327
504 a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	328 delta = b*2 - 4a*c
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	329 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 501 diff changeset	330 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests Nicolas Saunier <nicolas.saunier@polymtl.ca> 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 527 diff changeset	336 ttc = ttc1
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 527 diff changeset	337 elif ttc2 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 527 diff changeset	338 ttc = ttc2
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 527 diff changeset	339 else: # ttc1 < 0 and ttc2 < 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 527 diff changeset	340 ttc = None
464 dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	341 else:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	342 ttc = None
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	343 return ttc
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	344
583 6ebfb43e938e added midpoint function (from laurent gauthier) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 582 diff changeset	345 @staticmethod
6ebfb43e938e added midpoint function (from laurent gauthier) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 582 diff changeset	346 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 582 diff changeset	347 'Returns the middle of the segment [p1, p2]'
6ebfb43e938e added midpoint function (from laurent gauthier) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 582 diff changeset	348 return Point(0.5p1.x+0.5p2.x, 0.5p1.y+0.5p2.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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	350 if shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	351 def pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	352 '''Optimized tests of a series of points within (Shapely) polygon '''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	353 prepared_polygon = prep(polygon)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	354 return filter(prepared_polygon.contains, points)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	355
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	356 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	357 # 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	358 def subsec_spline_dist(splines):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	359 ''' 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	360
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	361 Output:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	362 =======
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	363 ss_spline_d[spline #][mode][station]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	364
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	365 where:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	366 mode=0: incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	367 mode=1: cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	368 mode=2: cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	369 '''
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	370 ss_spline_d = []
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	371 #Prepare subsegment distances
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	372 for spline in range(len(splines)):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	373 ss_spline_d.append([[],[],[]])
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	374 ss_spline_d[spline][0] = zeros(len(splines[spline])-1) #Incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	375 ss_spline_d[spline][1] = zeros(len(splines[spline])-1) #Cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	376 ss_spline_d[spline][2] = zeros(len(splines[spline])) #Cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	377 for spline_p in range(len(splines[spline])):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	378 if spline_p > (len(splines[spline]) - 2):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	379 break
569 0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	380 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1])
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	381 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p])
568 538fb47b3007 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	382 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p])
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	383
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	384 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	385
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	386 return ss_spline_d
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	387
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	388 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	389 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	390 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	391 '''
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	392 if(p0x == p1x and p0y == p1y):
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	393 return None
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	394 try:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	395 #Approximate slope singularity by giving some slope roundoff; account for roundoff error
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	396 if(round(p0x, 10) == round(p1x, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	397 p1x += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	398 if(round(p0y, 10) == round(p1y, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	399 p1y += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	400 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	401 Y = (-(qx)(p0y-p1y)-(qy(p0y-p1y)2)/(p0x-p1x)+p0x2(p0y-p1y)/(p0x-p1x)-p0xp1x(p0y-p1y)/(p0x-p1x)-p0y(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x))
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	402 X = (-Y(p1y-p0y)+qx(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x)
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	403 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	404 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	405 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	406 import pdb; pdb.set_trace()
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	407 return Point(X,Y)
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	408
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	409 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5):
579 05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	410 ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines). A spline is a list of points (class Point), most likely a trajectory.
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	411
659 784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	412 Output:
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	413 =======
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	414 [spline index,
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	415 subsegment leading point index,
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	416 snapped point,
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	417 subsegment distance,
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	418 spline distance,
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	419 orthogonal point offset]
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	420
784298512b60 minor modifications Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 653 diff changeset	421 or None
569 0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	422 '''
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	423 minOffsetY = float('inf')
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	424 #For each spline
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	425 for spline in range(len(splines)):
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	426 #For each spline point index
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	427 for spline_p in range(len(splines[spline])-1):
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	428 #Get closest point on spline
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	429 closestPoint = ppldb2p(p.x,p.y,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1])
636 3058e00887bc removed all issues because of tests with None, using is instead of == or != Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 635 diff changeset	430 if closestPoint is None:
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	431 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p))
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	432 return None
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	433 # check if the
fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	434 if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], closestPoint.y):
fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	435 offsetY = Point.distanceNorm2(closestPoint, p)
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	436 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	437 minOffsetY = offsetY
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	438 snappedSpline = spline
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	439 snappedSplineLeadingPoint = spline_p
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	440 snappedPoint = Point(closestPoint.x, closestPoint.y)
573 cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	441 #Jump loop if significantly close
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	442 if offsetY < goodEnoughSplineDistance:
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	443 break
cae4e5f3fe9f fixed and simplified getSYfromXY Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 571 diff changeset	444 #Get sub-segment distance
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	445 if minOffsetY != float('inf'):
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	446 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSpline][snappedSplineLeadingPoint])
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	447 #Get cumulative alignment distance (total segment distance)
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	448 splineDistanceS = splines[snappedSpline].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	449 orthogonalSplineVector = (splines[snappedSpline][snappedSplineLeadingPoint+1]-splines[snappedSpline][snappedSplineLeadingPoint]).orthogonal()
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	450 offsetVector = p-snappedPoint
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	451 if Point.dot(orthogonalSplineVector, offsetVector) < 0:
e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	452 minOffsetY = -minOffsetY
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	453 return [snappedSpline, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY]
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	454 else:
e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	455 return None
e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	456
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	457 def getXYfromSY(s, y, splineNum, splines, mode = 0):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	458 ''' Find X,Y coordinate from S,Y data.
568 538fb47b3007 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	459 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	460 if mode !=0 : return Real X,Y
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	461 '''
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	462
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	463 #(buckle in, it gets ugly from here on out)
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	464 ss_spline_d = subsec_spline_dist(splines)
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	465
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	466 #Find subsegment
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	467 snapped_x = None
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	468 snapped_y = None
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	469 for spline_ss_index in range(len(ss_spline_d[splineNum][1])):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	470 if(s < ss_spline_d[splineNum][1][spline_ss_index]):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	471 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	472 #Get normal vector and then snap
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	473 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0])
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	474 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1])
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	475 magnitude = sqrt(vector_l_x2 + vector_l_y2)
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	476 n_vector_x = vector_l_x/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	477 n_vector_y = vector_l_y/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	478 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	479 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	480
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	481 #Real values (including orthogonal projection of y))
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	482 real_x = snapped_x - y*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	483 real_y = snapped_y + y*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	484 break
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	485
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	486 if mode == 0 or (not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	487 if(not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	488 snapped_x = splines[splineNum][-1][0]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	489 snapped_y = splines[splineNum][-1][1]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	490 return [snapped_x,snapped_y]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	491 else:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	492 return [real_x,real_y]
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	493
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	494
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	495 class NormAngle(object):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	496 '''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	497
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	498 def __init__(self, norm, angle):
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	499 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	500 self.angle = angle
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	501
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	502 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	503 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	504 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	505 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	506 angle = atan2(p.y, p.x)
339 9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	507 else:
9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	508 angle = 0.
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	509 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	510
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	511 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	512 '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	513 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	514
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	515 def getPoint(self):
255 13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	516 return Point(self.normcos(self.angle), self.normsin(self.angle))
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	517
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	518
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	519 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	520 '''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	521 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps*20.5)
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	522
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	523 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	524 '''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	525 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	526 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	527 predictedSpeedTheta = speedOrientation+control
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	528 if maxSpeed:
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	529 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	530 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 249 diff changeset	531 return predictedPosition, predictedSpeedTheta
245 bd8ab323c198 corrected issue with predictPosiont static method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 244 diff changeset	532
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	533
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	534 class FlowVector(object):
184 d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	535 '''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	536 ie a position and a velocity'''
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	537 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	538 'position and velocity should be Point instances'
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	539 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	540 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	541
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	542 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	543 return FlowVector(self.position+other.position, self.velocity+other.velocity)
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	544
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	545 def multiply(self, alpha):
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	546 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	547
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	548 def plot(self, options = '', **kwargs):
211 ada6e8fbe4c6 2 Changes : Francois Belisle <belisle.francois@gmail.com> parents: 203 diff changeset	549 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	550 self.position.plot(options+'x', **kwargs)
184 d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	551
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	552 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	553 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	554 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
d70e9b36889c initial work on flow vectors and clustering algorithms Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 182 diff changeset	555
569 0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	556 def intersection(p1, p2, p3, p4):
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	557 ''' 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	558 http://paulbourke.net/geometry/pointlineplane/'''
569 0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	559 dp12 = p2-p1
571 a9c1d61a89b4 corrected bug for segment intersection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 570 diff changeset	560 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 570 diff changeset	561 #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	562 det = float(dp34.ydp12.x-dp34.xdp12.y)
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 672 diff changeset	563 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	564 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	565 else:
571 a9c1d61a89b4 corrected bug for segment intersection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 570 diff changeset	566 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	567 return p1+dp12.multiply(ua)
569 0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	568
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	569 # def intersection(p1, p2, dp1, dp2):
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	570 # '''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	571 # 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	572 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	573 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	574 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	575 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	576 # B = matrix([[dp1.yp1.x-dp1.xp1.y],
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	577 # [dp2.yp2.x-dp2.xp2.y]])
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	578
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	579 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	580 # return None
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	581 # else:
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	582 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 567 diff changeset	583 # 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	584
152 74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 148 diff changeset	585 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	586 '''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	587
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	588 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	589 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 148 diff changeset	590 else:
571 a9c1d61a89b4 corrected bug for segment intersection Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 570 diff changeset	591 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	592 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	593 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	594 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	595 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	596 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	597 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	598 else:
258 d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 256 diff changeset	599 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 256 diff changeset	600
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	601 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	602 '''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	603 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	604 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	605 return inter
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	606 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	607 return None
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	608
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	609
290 df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 288 diff changeset	610 class Trajectory(object):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	611 '''Class for trajectories: temporal sequence of positions
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	612
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	613 The class is iterable'''
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	614
79 5d487f183fe2 added method to test points in polygons and tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 74 diff changeset	615 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	616 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	617 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 108 diff changeset	618 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 108 diff changeset	619 self.positions = [[],[]]
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	620
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	621 @staticmethod
555 f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	622 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	623 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	624 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	625 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	626 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	627 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	628 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	629 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	630
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	631 @staticmethod
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	632 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	633 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	634 [float(n) for n in line2.split(' ')]])
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	635
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	636 @staticmethod
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	637 def fromPointList(points):
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	638 t = Trajectory()
576 0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	639 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	640 for p in points:
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	641 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	642 else:
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	643 for p in points:
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	644 t.addPosition(p)
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	645 return t
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	646
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	647 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	648 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	649
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	650 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	651 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	652
582 7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 581 diff changeset	653 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	654 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	655
526 21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	656 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	657 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	658 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	659 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	660 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	661 #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	662
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	663 def __str__(self):
39 e47168f6b694 corrected printing bug Nicolas Saunier <nico@confins.net> parents: 38 diff changeset	664 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	665
69 cc192d0450b3 added full support for two implementations of indicators, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 68 diff changeset	666 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	667 return self.__str__()
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	668
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	669 def __iter__(self):
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	670 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	671 return self
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	672
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	673 def next(self):
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	674 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	675 raise StopIteration
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	676 else:
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	677 self.iterInstantNum += 1
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	678 return self[self.iterInstantNum-1]
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	679
776 84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	680 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	681 if self.length() == other.length():
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	682 result = True
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	683 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	684 result = result and (p == po)
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	685 return result
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	686 else:
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	687 return False
84420159c5f4 added __eq__ functions for Point and Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 771 diff changeset	688
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	689 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	690 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	691 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	692 self.positions[1][i] = y
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 185 diff changeset	693
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	694 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	695 self.setPositionXY(i, p.x, p.y)
284 f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	696
71 45e958ccd9bd added new addPosition method to Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 69 diff changeset	697 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	698 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 108 diff changeset	699 self.positions[1].append(y)
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	700
71 45e958ccd9bd added new addPosition method to Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 69 diff changeset	701 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	702 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	703
343 74e437ab5f11 first version of indicator loading code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 339 diff changeset	704 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 339 diff changeset	705 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	706 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	707
182 d3f6de6c3918 added drawing functialities, in particular on aerial image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 152 diff changeset	708 @staticmethod
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	709 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	710 if lastCoordinate is None:
270 05c9b0cb8202 updates for drawing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 268 diff changeset	711 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	712 elif 0 <= lastCoordinate <= len(positions[0]):
270 05c9b0cb8202 updates for drawing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 268 diff changeset	713 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	714 if withOrigin:
211 ada6e8fbe4c6 2 Changes : Francois Belisle <belisle.francois@gmail.com> parents: 203 diff changeset	715 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	716
203 e2f31813ade6 added code to display trajectories on videa Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 185 diff changeset	717 def project(self, homography):
622 dc8490726d06 corrected issues created with homography projection in Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 621 diff changeset	718 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	719
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	720 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	721 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	722
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	723 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	724 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	725
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	726 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	727 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	728 [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	729 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	730
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	731 def getXCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	732 return self.positions[0]
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	733
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	734 def getYCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	735 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	736
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 91 diff changeset	737 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	738 return array(self.positions)
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	739
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	740 def xBounds(self):
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	741 # 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	742 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	743
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	744 def yBounds(self):
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	745 # 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	746 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	747
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	748 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	749 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	750 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	751 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	752 return None
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	753 else:
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	754 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	755 [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	756
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	757 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	758 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	759 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	760 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	761 return None
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	762 else:
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	763 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	764 [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	765
590 0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 589 diff changeset	766 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	767 '''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	768 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	769 [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	770
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	771 def differentiate(self, doubleLastPosition = False):
339 9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	772 diff = Trajectory()
9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	773 for i in xrange(1, self.length()):
9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	774 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	775 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	776 diff.addPosition(diff[-1])
339 9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	777 return diff
9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 335 diff changeset	778
761 15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	779 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	780 '''Differentiates the trajectory using the Savitsky Golay filter
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	781
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	782 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	783 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	784 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	785 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	786 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	787 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	788 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	789 from scipy.signal import savgol_filter
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	790
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	791 if removeBothEnds >=1:
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	792 pos = [self.positions[0][removeBothEnds:-removeBothEnds],
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	793 self.positions[1][removeBothEnds:-removeBothEnds]]
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	794 else:
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	795 pos = self.positions
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	796 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	797 return Trajectory(filtered)
15ddc8715236 added savitzky golay for differentiation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 727 diff changeset	798
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	799 def norm(self):
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	800 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	801 # def add(x, y): return x+y
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	802 # sq = map(add, [xx for x in self.positions[0]], [yy for y in self.positions[1]])
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	803 # return sqrt(sq)
248 571ba5ed22e2 added utils for bus processing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	804 return hypot(self.positions[0], self.positions[1])
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	805
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	806 # def cumulatedDisplacement(self):
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	807 # '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	808 # displacement = 0
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	809 # for i in xrange(self.length()-1):
d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	810 # 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	811 # return displacement
49 1fb5606506ae re-arrangement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 43 diff changeset	812
576 0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	813 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	814 '''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	815 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	816 self.distances = []
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	817 self.cumulativeDistances = [0.]
576 0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	818 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	819 cumulativeDistance = 0.
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	820 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	821 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	822 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	823 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	824 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	825 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	826
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	827 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	828 '''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	829 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	830 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	831 else:
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	832 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	833
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	834 def getCumulativeDistance(self, i):
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	835 '''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	836 if i < self.length():
576 0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	837 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 575 diff changeset	838 else:
577 d0abd2ee17b9 changed arguments to type Point Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 576 diff changeset	839 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	840
762 d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	841 def getMaxDistance(self, metric):
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	842 'Returns the maximum distance between points in the trajectory'
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	843 positions = self.getPositions().asArray().T
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	844 return cdist(positions, positions, metric = metric).max()
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	845
381 387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 379 diff changeset	846 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 379 diff changeset	847 '''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	848 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	849 count = 0
383 0ce2210790b1 fixed stupid naming bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 381 diff changeset	850 lengthThreshold = float(self.length())*minProportion
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	851 for p in self:
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	852 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	853 count += 1
627 82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	854 return count >= lengthThreshold
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	855
49 1fb5606506ae re-arrangement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 43 diff changeset	856 def wiggliness(self):
762 d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	857 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	858 if straightDistance > 0:
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	859 return self.getCumulativeDistance(self.length()-1)/float(straightDistance)
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	860 else:
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	861 return None
49 1fb5606506ae re-arrangement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 43 diff changeset	862
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	863 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	864 '''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	865 intersects with the segment of extremities p1 and p2
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	866 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	867 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	868 intersections = []
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	869
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	870 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	871 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	872 q2=self.__getitem__(i+1)
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	873 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	874 if p is not None:
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	875 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	876 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	877 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	878 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	879 else:
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	880 ratio = 0
41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	881 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	882 intersections.append(p)
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	883 return indices, intersections
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	884
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	885 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	886 '''Returns a list of the indices at which the trajectory
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	887 intersects with the line going through p1 and p2
bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	888 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	889 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	890 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	891
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	892 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	893 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	894 q2=self.__getitem__(i+1)
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	895 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	896 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	897 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	898 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	899 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	900 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	901 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	902 ratio = 0
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 627 diff changeset	903 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	904 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	905 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	906
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	907 def getTrajectoryInInterval(self, inter):
622 dc8490726d06 corrected issues created with homography projection in Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 621 diff changeset	908 '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	909 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	910 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	911 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	912 else:
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	913 return None
762 d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	914
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	915 def subSample(self, step):
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	916 'Returns the positions very step'
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	917 return Trajectory([self.positions[0][::step],
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	918 self.positions[1][::step]])
d6f0e0cab07d added functionalities for Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 761 diff changeset	919
372 349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	920 if shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	921 def getTrajectoryInPolygon(self, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	922 '''Returns the trajectory built with the set of points inside the (shapely) polygon'''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	923 traj = Trajectory()
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	924 points = [p.asShapely() for p in self]
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	925 for p in pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	926 traj.addPositionXY(p.x, p.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 369 diff changeset	927 return traj
627 82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	928
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	929 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	930 pointsIn = pointsInPolygon([p.asShapely() for p in self], polygon)
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	931 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	932 return len(pointsIn) >= lengthThreshold
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	933 else:
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	934 def getTrajectoryInPolygon(self, polygon):
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	935 '''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	936 (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	937 traj = Trajectory()
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	938 for p in self:
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	939 if p.inPolygon(polygon):
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	940 traj.addPosition(p)
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	941 return traj
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	942
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	943 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	944 pointsInPolygon = [p.inPolygon(polygon) for p in self]
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	945 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	946 return len(pointsInPolygon) >= lengthThreshold
82e9f78a4714 added test for location for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 626 diff changeset	947
284 f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	948 @staticmethod
369 027e254f0b53 lcss subclass for indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 368 diff changeset	949 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 368 diff changeset	950 return lcss.compute(t1, t2)
284 f2cf16ad798f added LCSS for trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 280 diff changeset	951
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	952 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	953 '''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	954 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	955 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	956
526 21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	957 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	958 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	959 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	960 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	961 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	962 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	963 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	964 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	965 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	966 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	967 self.lanes = lanes
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	968
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	969 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	970 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	971 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	972 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 524 diff changeset	973 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	974 #elif isinstance( key, slice ):
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	975
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	976 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	977 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	978
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	979 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	980 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	981
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	982 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	983 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	984 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	985
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	986 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	987 '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	988 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	989
327 42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	990 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	991 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	992 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	993 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 318 diff changeset	994
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	995 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	996 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	997 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	998 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	999 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	1000 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	1001 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	1002 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	1003 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	1004 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 531 diff changeset	1005
451 cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1006 def getIntersections(self, S1, lane = None):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1007 '''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	1008 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	1009 (in provided lane if lane is not None)
771 bd13937818a4 minor bug fix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 768 diff changeset	1010 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	1011 indices = []
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1012 for i in xrange(self.length()-1):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1013 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1014 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	1015 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	1016 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	1017 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	1018
62 290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1019 ##################
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1020 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1021 ##################
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1022
329 a70c205ebdd9 added sqlite code, in particular to load and save road user type Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 327 diff changeset	1023 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	1024 'car',
62 290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1025 '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	1026 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 327 diff changeset	1027 'bicycle',
185 c06379f25ab8 utilities for user types Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 184 diff changeset	1028 'bus',
62 290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1029 'truck']
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1030
185 c06379f25ab8 utilities for user types Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 184 diff changeset	1031 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 184 diff changeset	1032
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	1033 class MovingObject(STObject, VideoFilenameAddable):
288 e0d41c7f53d4 updated class/method descriptions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 284 diff changeset	1034 '''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	1035 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	1036 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	1037 '''
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	1038
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 383 diff changeset	1039 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	1040 super(MovingObject, self).__init__(num, timeInterval)
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	1041 self.positions = positions
345 fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1042 self.velocities = velocities
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	1043 self.geometry = geometry
54 c354d41ef7cd corrected code for usertype in movingobject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 49 diff changeset	1044 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	1045 self.features = None
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	1046 # 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	1047
555 f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	1048 @staticmethod
f13220f765e0 added static methods to create trajectories and moving objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 552 diff changeset	1049 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	1050 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	1051 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	1052
622 dc8490726d06 corrected issues created with homography projection in Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 621 diff changeset	1053 @staticmethod
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1054 def concatenate(obj1, obj2, num = None):
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1055 '''Concatenates two objects supposed to overlap temporally '''
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1056 commonTimeInterval = obj1.commonTimeInterval(obj2)
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1057 if commonTimeInterval.empty():
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1058 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	1059 return None
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1060 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	1061 if num is None:
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1062 newNum = obj1.getNum()
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1063 else:
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1064 newNum = num
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1065 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1066 # positions
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1067 positions = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1068 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	1069 nTotal = 0.
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1070 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	1071 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	1072 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1073 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1074 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	1075 else:
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1076 n = 1.
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1077 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	1078 nTotal += n
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1079 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	1080 positions.addPosition(p.divide(nTotal))
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1081 # velocities: if any
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1082 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'):
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1083 velocities = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1084 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	1085 nTotal = 0.
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1086 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	1087 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	1088 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1089 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1090 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	1091 else:
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1092 n = 1.
65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1093 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	1094 nTotal += n
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1095 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	1096 velocities.addPosition(p.divide(nTotal))
623 ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1097 else:
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1098 velocities = None
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1099 # TODO object envelop (polygon)
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1100 # user type
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1101 if obj1.getUserType() != obj2.getUserType():
ce7133cbcdf3 implemented function to concatenate objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 622 diff changeset	1102 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	1103
663 65a867942eee modified concatenate to take into account features if available Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	1104 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	1105 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	1106 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	1107 return newObject
622 dc8490726d06 corrected issues created with homography projection in Trajectory Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 621 diff changeset	1108
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1109 def getObjectInTimeInterval(self, inter):
54 c354d41ef7cd corrected code for usertype in movingobject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 49 diff changeset	1110 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 49 diff changeset	1111 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	1112 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	1113 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 96 diff changeset	1114 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	1115 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	1116 if self.velocities:
97 b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 96 diff changeset	1117 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1118 return obj
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1119 else:
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1120 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	1121 return None
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1122
726 43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1123 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	1124 '''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	1125 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	1126 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	1127 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	1128 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1129 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	1130 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	1131 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	1132 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	1133
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1134 #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	1135 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	1136 # '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	1137 l = 0
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1138 intervalLabels = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1139 prev = True
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1140 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	1141 if i:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1142 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	1143 l += 1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1144 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	1145 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1146 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	1147 prev = i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1148 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	1149 subObjects = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1150 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	1151 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	1152 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	1153 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	1154 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	1155 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	1156
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1157 return subObjects
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 723 diff changeset	1158
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1159 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1160 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1161
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1162 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1163 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1164
329 a70c205ebdd9 added sqlite code, in particular to load and save road user type Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 327 diff changeset	1165 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	1166 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	1167
335 3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1168 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1169 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1170 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1171 else:
3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1172 return None
3950bfe22768 added functions to export trajectories to csv Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 331 diff changeset	1173
643 bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1174 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	1175 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	1176 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	1177 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	1178 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 659 diff changeset	1179 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	1180 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1181 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1182 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1183 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	1184 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	1185 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	1186 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	1187 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1188 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	1189 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	1190 plot(instants, coords, options, **kwargs)
660 994dd644f6ab corrected impact of warmUpLastInstant Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 659 diff changeset	1191 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 659 diff changeset	1192 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	1193 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 636 diff changeset	1194 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	1195
329 a70c205ebdd9 added sqlite code, in particular to load and save road user type Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 327 diff changeset	1196 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	1197 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	1198
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 259 diff changeset	1199 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 259 diff changeset	1200 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	1201
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	1202 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	1203 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	1204
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	1205 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	1206 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	1207
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	1208 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	1209 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	1210 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	1211 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	1212 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	1213
666 93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1214 def getFeatureNumbers(self):
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1215 '''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	1216 dict instant -> number of features'''
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1217 if self.hasFeatures():
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1218 featureNumbers = {}
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1219 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1220 n = 0
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1221 for f in self.getFeatures():
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1222 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1223 n += 1
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1224 featureNumbers[t]=n
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1225 return featureNumbers
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1226 else:
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1227 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	1228 return None
93633ce122c3 added function to count features in objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 665 diff changeset	1229
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1230 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
682 fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1231 speeds = self.getVelocities().norm()
fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1232 if nInstantsIgnoredAtEnds > 0:
fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1233 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1234 return speeds[n:-n]
fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1235 else:
fbe29be25501 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 680 diff changeset	1236 return speeds
49 1fb5606506ae re-arrangement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 43 diff changeset	1237
633 f410c8fb07b7 minor function to export speed as temporal indicator for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 631 diff changeset	1238 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 631 diff changeset	1239 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	1240 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	1241
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1242 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1243 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1244
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1245 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1246 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	1247
67 ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1248 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1249 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	1250
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1251 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1252 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	1253
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1254 def getXCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1255 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1256
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1257 def getYCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1258 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	1259
517 47d9970ee954 added plotting of features with object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 516 diff changeset	1260 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	1261 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	1262 for f in self.getFeatures():
517 47d9970ee954 added plotting of features with object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 516 diff changeset	1263 f.positions.plot('r', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 516 diff changeset	1264 self.positions.plot('bx-', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 516 diff changeset	1265 else:
47d9970ee954 added plotting of features with object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 516 diff changeset	1266 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	1267
621 582508610572 merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 619 620 diff changeset	1268 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> parents: 619 620 diff changeset	1269 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	1270
626 35155ac2a294 corrected bugs, in particular to MovingObject.play Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 624 diff changeset	1271 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	1272 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	1273
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1274 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	1275 speeds = framerate*self.getSpeeds()
377 2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1276 coef = utils.linearRegression(range(len(speeds)), speeds)
379 f1a1923ddff9 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 378 diff changeset	1277 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0]))
377 2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1278 if display:
672 5473b7460375 moved and rationalized imports in modules Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 666 diff changeset	1279 from matplotlib.pyplot import figure, axis
377 2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1280 figure(1)
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	1281 self.plot()
379 f1a1923ddff9 minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 378 diff changeset	1282 axis('equal')
377 2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1283 figure(2)
2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1284 plot(list(self.getTimeInterval()), speeds)
2aed569f39e7 added utils Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 372 diff changeset	1285
378 3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1286 @staticmethod
653 107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1287 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	1288 '''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	1289 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	1290 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	1291 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	1292 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1293 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	1294 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	1295 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1296 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1297 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1298 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1299 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	1300 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1301 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	1302
107f1ad02b69 compilation with C++11 and test function for movingobject distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 643 diff changeset	1303 @staticmethod
551 dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1304 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	1305 '''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	1306 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	1307 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	1308 if _instant2 is None:
551 dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1309 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1310 else:
dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1311 instant2 = _instant2
546 6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1312 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)]
6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1313 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)]
6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1314 return cdist(positions1, positions2, metric = 'euclidean')
6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1315
6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1316 @staticmethod
551 dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1317 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1318 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546 6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1319
6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1320 @staticmethod
551 dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1321 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 550 diff changeset	1322 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	1323
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1324 def maxSize(self):
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1325 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1326 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	1327 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1328 nFeatures = -1
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1329 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1330 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1331 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	1332 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1333 nFeatures = n
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1334 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1335 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1336 else:
3805b9639647 added tests for movement orientation, object size Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 377 diff changeset	1337 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	1338 return None
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 596 616 diff changeset	1339
550 5668af2ff515 minor naming Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	1340 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	1341 self.startRouteID = startRouteID
5668af2ff515 minor naming Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 549 diff changeset	1342 self.endRouteID = endRouteID
546 6c0923f1ce68 add some functions for behaviour analysis MohamedGomaa parents: 531 diff changeset	1343
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	1344 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	1345 '''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	1346 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	1347 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	1348 indices, intersections = self.positions.getIntersections(p1, p2)
83 41da2cdcd91c re-arranged trajectory intersections Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 79 diff changeset	1349 return [t+self.getFirstInstant() for t in indices]
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	1350
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	1351 @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	1352 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	1353 '''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	1354
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 633 diff changeset	1355 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	1356 #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	1357 # 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	1358 # 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	1359 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	1360 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	1361 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	1362 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	1363 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	1364 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	1365 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	1366 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	1367 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	1368 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	1369 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	1370
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	1371 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	1372 '''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	1373 at constant speed'''
255 13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	1374 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	1375
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1376 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	1377 ''' 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	1378 (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	1379 curvilinear coordinates using alignment metadata.
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1380 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	1381 ======
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1382
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1383 Input:
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1384 ======
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1385 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	1386 points (class Point).
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1387 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	1388 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	1389 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	1390
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1391 '''
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1392
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1393 self.curvilinearPositions = CurvilinearTrajectory()
567 072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1394
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1395 #For each point
579 05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	1396 for i in xrange(int(self.length())):
05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	1397 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	1398
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1399 # 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	1400 if(result is None):
579 05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	1401 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	1402 else:
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1403 [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	1404 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	1405
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1406 ## 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	1407 #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	1408 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	1409 ## Recalculate projected point to new lane
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1410 lanes = self.curvilinearPositions.getLanes()
fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1411 if(lanes != smoothed_lanes):
579 05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	1412 for i in xrange(len(lanes)):
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1413 if(lanes[i] != smoothed_lanes[i]):
fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1414 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	1415
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1416 # 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	1417 if(result is None):
574 e24eeb244698 first implementation of projection to curvilinear coordinates Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 573 diff changeset	1418 ## 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	1419 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	1420 else:
579 05c927c6d3cf curvilinear projection seems operational Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 578 diff changeset	1421 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
578 fe4e9d2b807d finalizing transformcoordinates for each object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 577 diff changeset	1422 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	1423
562 259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1424 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1425 '''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	1426 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	1427
072cedc3f33d first integration of curvilinear transformation from Paul Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 562 diff changeset	1428 Warning work in progress
562 259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1429 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1430 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1431 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1432 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1433 else:
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1434 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1435 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	1436 for i in xrange(nFeatures):
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1437 for j in xrange(i):
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1438 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1439 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1440 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1441 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1442 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	1443 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	1444 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	1445 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	1446 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	1447 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 555 diff changeset	1448
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	1449 ###
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	1450 # 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	1451 ###
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1452 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	1453 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1454 slow: non-motorized -> pedestrians
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 583 diff changeset	1455 fast: motorized -> cars
608 078adacd72a4 moving.py integrating Mohamed's comments refactored Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 607 diff changeset	1456
078adacd72a4 moving.py integrating Mohamed's comments refactored Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 607 diff changeset	1457 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	1458 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	1459 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	1460 if aggregationFunc(speeds) >= threshold:
345 fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1461 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1462 else:
fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1463 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 343 diff changeset	1464
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1465 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	1466 '''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	1467 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	1468 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	1469 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	1470
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	1471 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	1472 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	1473 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	1474 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	1475 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	1476 return x'''
626 35155ac2a294 corrected bugs, in particular to MovingObject.play Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 624 diff changeset	1477 if not hasattr(self, 'aggregatedSpeed'):
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1478 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581 10e8a9f2bd9f change for python 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 579 diff changeset	1479 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 579 diff changeset	1480 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 579 diff changeset	1481 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	1482 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	1483 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	1484
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1485 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	1486 '''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	1487
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1488 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1489 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1490 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1491 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1492 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1493 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1494 else:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1495 class CarClassifier:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1496 def predict(self, hog):
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1497 return userType2Num['car']
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1498 self.appearanceClassifier = CarClassifier()
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1499
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	1500 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	1501
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1502 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	1503 '''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	1504 applies the SVM model on it'''
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1505 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	1506 if croppedImg is not None and len(croppedImg) > 0:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1507 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	1508 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	1509 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	1510 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	1511
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1512 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	1513 '''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	1514 (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	1515
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1516 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	1517 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	1518
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1519 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1520 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	1521 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	1522 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	1523
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1524 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	1525 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	1526 if t not in self.userTypes:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1527 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	1528 # compute P(Speed\|Class)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1529 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	1530 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	1531 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	1532 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	1533 # result is P(Class\|Appearance) x P(Speed\|Class)
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1534 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	1535 for t in self.userTypes:
680 da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1536 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	1537 for userTypeNum in userTypeProbabilities:
da1352b89d02 classification is working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 675 diff changeset	1538 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	1539 # 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	1540 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	1541
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	1542 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	1543 '''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	1544 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	1545 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	1546
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 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	1548 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	1549 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	1550 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	1551 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	1552 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	1553 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	1554 self.projectedPositions = obj.positions
523 ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 522 diff changeset	1555 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	1556 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	1557 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	1558 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	1559 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	1560 # 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	1561 return possibleUserTypes
520 fd9641cbd24b added function to classify object at instant from SVM Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 517 diff changeset	1562
67 ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1563 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1564 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1565 '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	1566 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	1567 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	1568 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	1569
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1570 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1571 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 66 diff changeset	1572 '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	1573 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	1574 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	1575
587 cf578ba866da added code to load bounding box corners as trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 583 diff changeset	1576
cf578ba866da added code to load bounding box corners as trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 583 diff changeset	1577 ##################
588 c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 587 diff changeset	1578 # Annotations
587 cf578ba866da added code to load bounding box corners as trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 583 diff changeset	1579 ##################
cf578ba866da added code to load bounding box corners as trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 583 diff changeset	1580
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	1581 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	1582 '''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	1583 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	1584 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	1585
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 589 diff changeset	1586 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	1587
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	1588 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	1589 (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	1590 '''
587 cf578ba866da added code to load bounding box corners as trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 583 diff changeset	1591
589 5800a87f11ae corrected one bug and changed attribute names Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 588 diff changeset	1592 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	1593 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	1594 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 588 diff changeset	1595 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	1596
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 589 diff changeset	1597 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	1598 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	1599 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	1600 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	1601
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 589 diff changeset	1602 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	1603 '''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	1604 with threshold matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1605 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	1606 (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	1607 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	1608 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1609 return d
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1610 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1611 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	1612
723 e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1613 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	1614 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1615
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1616 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1617 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	1618
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 589 diff changeset	1619 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	1620 current implementation is BBMovingObject (bounding boxes)
592 985a3021cff2 first match table implementation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 590 diff changeset	1621 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 590 diff changeset	1622
594 9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1623 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1624 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1625
624 bac66bd536c5 added slight documentation of CLEAR MOT output Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 623 diff changeset	1626 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	1627 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	1628 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 623 diff changeset	1629 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	1630 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 623 diff changeset	1631
723 e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1632 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	1633 matches is a dict
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1634 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	1635 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	1636 (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	1637
624 bac66bd536c5 added slight documentation of CLEAR MOT output Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 623 diff changeset	1638 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	1639 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1640 from munkres import Munkres
592 985a3021cff2 first match table implementation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 590 diff changeset	1641
594 9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1642 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1643 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	1644 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	1645 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	1646 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1647 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1648 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1649 matches = {} # match[i] is the tracker track associated with GT i (using object references)
723 e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1650 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1651 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	1652 toMatches = {o.getNum():{} for o in objects}
592 985a3021cff2 first match table implementation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 590 diff changeset	1653 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	1654 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1655 # 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	1656 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1657 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1658 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	1659 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	1660 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1661 dist += d
592 985a3021cff2 first match table implementation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 590 diff changeset	1662 else:
594 9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1663 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1664 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1665 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1666 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1667 del matches[a]
593 e2a873e08568 non-working clear mot metrics Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 592 diff changeset	1668
594 9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1669 # match all unmatched GT-TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1670 matchedGTs = matches.keys()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1671 matchedTOs = matches.values()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1672 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1673 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	1674 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	1675 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1676 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1677 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1678 for a in unmatchedGTs:
595 17b02c8054d0 added tests and corrected one bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 594 diff changeset	1679 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	1680 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1681 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1682 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1683 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1684 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1685 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1686 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1687 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	1688 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1689 for a,o in matches.iteritems():
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1690 gtMatches[a.getNum()][t] = o.getNum()
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1691 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	1692
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1693 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1694 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1695 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1696 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1697 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1698 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1699 # 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	1700 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1701 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1702 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1703 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1704 mismatches.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1705 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	1706 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1707 for a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1708 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	1709 mismatches.append(previousMatches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1710 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1711 for mm in set(mismatches):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1712 print type(mm), mm.getNum()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1713 # 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	1714 mme += len(set(mismatches))
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1715
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1716 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1717 motp = dist/ct
593 e2a873e08568 non-working clear mot metrics Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 592 diff changeset	1718 else:
594 9e39cd95e017 first implementation of CLEAR MOT (needs formal tests) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 593 diff changeset	1719 motp = None
595 17b02c8054d0 added tests and corrected one bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 594 diff changeset	1720 if gt > 0:
17b02c8054d0 added tests and corrected one bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 594 diff changeset	1721 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 594 diff changeset	1722 else:
17b02c8054d0 added tests and corrected one bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 594 diff changeset	1723 mota = None
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 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	1726 else:
e14e2101a5a9 returns detailed matching information for clear mot Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 690 diff changeset	1727 return motp, mota, mt, mme, fpt, gt
593 e2a873e08568 non-working clear mot metrics Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 592 diff changeset	1728
62 290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1729 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	1730 '''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	1731 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	1732 figure()
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1733 for obj in objects:
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 504 diff changeset	1734 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	1735 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1736
290fceb125d2 moved road user types and added plotting for all road users Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 58 diff changeset	1737
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1738 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1739 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1740 import unittest
43 6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1741 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 41 diff changeset	1742 #suite = doctest.DocTestSuite()
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1743 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1744 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	1745 #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	1746 if shapelyAvailable:
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 633 diff changeset	1747 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	1748 unittest.TextTestRunner().run(suite)

Mercurial Hosting > traffic-intelligence

annotate python/moving.py @ 776:84420159c5f4 dev