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annotate python/moving.py @ 339:9c1818a71c9c

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minor
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 19 Jun 2013 22:56:21 -0400
parents 3950bfe22768
children 74e437ab5f11
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils
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5 import cvutils
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6
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7 from math import sqrt
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8
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9 #from shapely.geometry import Polygon
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11 __metaclass__ = type
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12
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13 class Interval(object):
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14 '''Generic interval: a subset of real numbers (not iterable)'''
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15 def __init__(self, first=0, last=-1, revert = False):
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16 if revert and last<first:
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17 self.first=last
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18 self.last=first
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19 else:
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20 self.first=first
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21 self.last=last
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23 def __str__(self):
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24 return '[{0}, {1}]'.format(self.first, self.last)
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25
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26 def __repr__(self):
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27 return self.__str__()
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29 def empty(self):
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30 return self.first > self.last
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32 def length(self):
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33 '''Returns the length of the interval'''
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34 return float(max(0,self.last-self.first))
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36 def equal(self, i2):
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37 return self.first==i2.first and self.last == i2.last
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38
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39 def getList(self):
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40 return [self.first, self.last]
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42 def contains(self, instant):
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43 return (self.first<=instant and self.last>=instant)
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45 def inside(self, interval2):
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46 '''Indicates if the temporal interval of self is comprised in interval2'''
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47 return (self.first >= interval2.first) and (self.last <= interval2.last)
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49 @classmethod
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50 def union(cls, interval1, interval2):
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51 '''Smallest interval comprising self and interval2'''
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52 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last))
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54 @classmethod
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55 def intersection(cls, interval1, interval2):
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56 '''Largest interval comprised in both self and interval2'''
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57 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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58
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59 def distance(self, interval2):
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60 if not Interval.intersection(self, interval2).empty():
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61 return 0
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62 elif self.first > interval2.last:
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63 return self.first - interval2.last
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64 elif self.last < interval2.first:
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65 return interval2.first - self.last
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66 else:
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67 return None
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69
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70 def unionIntervals(intervals):
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71 'returns the smallest interval containing all intervals'
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72 inter = intervals[0]
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73 for i in intervals[1:]:
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74 inter = Interval.union(inter, i)
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75 return inter
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76
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78 class TimeInterval(Interval):
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79 '''Temporal interval: set of instants at fixed time step, between first and last, included
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80
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81 For example: based on frame numbers (hence the modified length method)
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82 It may be modified directly by setting first and last'''
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83
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84 def __init__(self, first=0, last=-1):
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85 super(TimeInterval, self).__init__(first, last, False)
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86
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87 @staticmethod
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88 def fromInterval(inter):
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89 return TimeInterval(inter.first, inter.last)
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90
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91 def __getitem__(self, i):
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92 if not self.empty():
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93 return self.first+i
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94
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95 def __iter__(self):
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96 self.iterInstantNum = -1
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97 return self
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98
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99 def next(self):
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100 if self.iterInstantNum >= self.length()-1:
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101 raise StopIteration
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102 else:
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103 self.iterInstantNum += 1
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104 return self[self.iterInstantNum]
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105
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106 def length(self):
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107 '''Returns the length of the interval'''
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108 return float(max(0,self.last-self.first+1))
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109
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110 # class BoundingPolygon:
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111 # '''Class for a polygon bounding a set of points
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112 # with methods to create intersection, unions...
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113 # '''
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114 # We will use the polygon class of Shapely
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115
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116 class STObject(object):
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117 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
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118 (time interval and bounding polygon for positions (e.g. rectangle)).
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119
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120 It may not mean that the object is defined
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121 for all time instants within the time interval'''
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122
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123 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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124 self.num = num
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125 self.timeInterval = timeInterval
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126 self.boundingPolygon = boundingPolygon
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127
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128 def empty(self):
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129 return self.timeInterval.empty() or not self.boudingPolygon
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130
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131 def getNum(self):
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132 return self.num
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133
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134 def getFirstInstant(self):
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135 return self.timeInterval.first
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136
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137 def getLastInstant(self):
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138 return self.timeInterval.last
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139
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140 def getTimeInterval(self):
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141 return self.timeInterval
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142
108
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143 def existsAtInstant(self, t):
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144 return self.timeInterval.contains(t)
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145
43
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146 def commonTimeInterval(self, obj2):
290
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147 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
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148
290
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diff changeset
149 class Point(object):
25
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150 def __init__(self, x, y):
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151 self.x = x
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152 self.y = y
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153
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154 def __str__(self):
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155 return '(%f,%f)'%(self.x,self.y)
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156
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157 def __repr__(self):
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158 return self.__str__()
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159
184
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160 def __add__(self, other):
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161 return Point(self.x+other.x, self.y+other.y)
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162
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163 def __sub__(self, other):
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164 return Point(self.x-other.x, self.y-other.y)
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165
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166 def multiply(self, alpha):
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167 return Point(self.x*alpha, self.y*alpha)
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168
211
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169 def draw(self, options = 'o', **kwargs):
41
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170 from matplotlib.pylab import plot
211
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171 plot([self.x], [self.y], options, **kwargs)
41
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172
38
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173 def norm2Squared(self):
43
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174 '''2-norm distance (Euclidean distance)'''
38
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175 return self.x*self.x+self.y*self.y
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176
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177 def norm2(self):
288
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diff changeset
178 '''2-norm distance (Euclidean distance)'''
38
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179 return sqrt(self.norm2Squared())
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180
284
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181 def norm1(self):
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182 return abs(self.x)+abs(self.y)
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183
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184 def normMax(self):
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185 return max(abs(self.x),abs(self.y))
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186
64
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187 def aslist(self):
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188 return [self.x, self.y]
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189
203
e2f31813ade6 added code to display trajectories on videa
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190 def astuple(self):
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191 return (self.x, self.y)
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192
223
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193 def asint(self):
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194 return Point(int(self.x), int(self.y))
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195
98
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196 def project(self, homography):
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197 from numpy.core.multiarray import array
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198 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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199 return Point(projected[0], projected[1])
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200
79
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201 def inPolygon(self, poly):
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202 '''Returns if the point x, y is inside the polygon.
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203 The polygon is defined by the ordered list of points in poly
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204
92
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205 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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206
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diff changeset
207 Use points_inside_poly from matplotlib.nxutils'''
79
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208
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209 n = len(poly);
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210 counter = 0;
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211
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212 p1 = poly[0];
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213 for i in range(n+1):
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214 p2 = poly[i % n];
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215 if self.y > min(p1.y,p2.y):
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diff changeset
216 if self.y <= max(p1.y,p2.y):
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diff changeset
217 if self.x <= max(p1.x,p2.x):
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diff changeset
218 if p1.y != p2.y:
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diff changeset
219 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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220 if p1.x == p2.x or self.x <= xinters:
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221 counter+=1;
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222 p1=p2
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223 return (counter%2 == 1);
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224
49
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parents: 43
diff changeset
225 @staticmethod
67
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diff changeset
226 def dot(p1, p2):
89
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diff changeset
227 'Scalar product'
67
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diff changeset
228 return p1.x*p2.x+p1.y*p2.y
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229
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diff changeset
230 @staticmethod
90
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diff changeset
231 def cross(p1, p2):
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diff changeset
232 'Cross product'
89
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diff changeset
233 return p1.x*p2.y-p1.y*p2.x
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234
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diff changeset
235 @staticmethod
38
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diff changeset
236 def distanceNorm2(p1, p2):
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diff changeset
237 return (p1-p2).norm2()
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238
64
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diff changeset
239 @staticmethod
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diff changeset
240 def plotAll(points, color='r'):
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diff changeset
241 from matplotlib.pyplot import scatter
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diff changeset
242 scatter([p.x for p in points],[p.y for p in points], c=color)
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243
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
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diff changeset
244 class NormAngle(object):
288
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diff changeset
245 '''Alternate encoding of a point, by its norm and orientation'''
245
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diff changeset
246
250
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diff changeset
247 def __init__(self, norm, angle):
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diff changeset
248 self.norm = norm
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diff changeset
249 self.angle = angle
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250
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diff changeset
251 @staticmethod
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diff changeset
252 def fromPoint(p):
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diff changeset
253 from math import atan2
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diff changeset
254 norm = p.norm2()
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diff changeset
255 if norm > 0:
259
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parents: 258
diff changeset
256 angle = atan2(p.y, p.x)
339
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diff changeset
257 else:
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diff changeset
258 angle = 0.
250
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diff changeset
259 return NormAngle(norm, angle)
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260
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diff changeset
261 def __add__(self, other):
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diff changeset
262 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
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diff changeset
263 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
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diff changeset
264
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diff changeset
265 def getPoint(self):
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diff changeset
266 from math import cos, sin
255
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diff changeset
267 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
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diff changeset
268
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diff changeset
269
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diff changeset
270 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
bd8ab323c198 corrected issue with predictPosiont static method
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parents: 244
diff changeset
271 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
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parents: 249
diff changeset
272 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
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parents: 249
diff changeset
273
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diff changeset
274 def predictPosition(position, speedOrientation, control, maxSpeed = None):
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parents: 249
diff changeset
275 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
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parents: 249
diff changeset
276 speedOrientation is the other encoding of velocity, (speed, orientation)
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diff changeset
277 speedOrientation and control are NormAngle'''
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parents: 249
diff changeset
278 predictedSpeedTheta = speedOrientation+control
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parents: 249
diff changeset
279 if maxSpeed:
59f547aebaac modified prediction functions, added norm/angle representation of Points
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diff changeset
280 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
59f547aebaac modified prediction functions, added norm/angle representation of Points
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parents: 249
diff changeset
281 predictedPosition = position+predictedSpeedTheta.getPoint()
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diff changeset
282 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
283
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
284
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
285 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
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parents: 182
diff changeset
286 '''Class to represent 4-D flow vectors,
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parents: 182
diff changeset
287 ie a position and a velocity'''
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parents: 182
diff changeset
288 def __init__(self, position, velocity):
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parents: 182
diff changeset
289 'position and velocity should be Point instances'
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diff changeset
290 self.position = position
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parents: 182
diff changeset
291 self.velocity = velocity
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diff changeset
292
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diff changeset
293 def __add__(self, other):
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diff changeset
294 return FlowVector(self.position+other.position, self.velocity+other.velocity)
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parents: 182
diff changeset
295
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parents: 182
diff changeset
296 def multiply(self, alpha):
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parents: 182
diff changeset
297 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
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parents: 182
diff changeset
298
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
299 def draw(self, options = '', **kwargs):
184
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parents: 182
diff changeset
300 from matplotlib.pylab import plot
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
301 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
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parents: 203
diff changeset
302 self.position.draw(options+'x', **kwargs)
184
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parents: 182
diff changeset
303
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parents: 182
diff changeset
304 @staticmethod
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parents: 182
diff changeset
305 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms
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parents: 182
diff changeset
306 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
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parents: 182
diff changeset
307
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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parents: 148
diff changeset
308 def segmentIntersection(p1, p2, p3, p4):
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parents: 148
diff changeset
309 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
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diff changeset
310 from numpy import matrix
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diff changeset
311 from numpy.linalg import linalg, det
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diff changeset
312
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
313 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
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parents: 148
diff changeset
314 return None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
315 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
316 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]]
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
317 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]]
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
318
d90be3c02267 reasonably efficient computation of collision points and crossing zones
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parents: 256
diff changeset
319 A = matrix([[dp1.y, -dp1.x],
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
320 [dp2.y, -dp2.x]])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
321 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
322 [dp2.y*p3.x-dp2.x*p3.y]])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
323
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
324 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0:
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
325 return None
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
326 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
327 intersection = linalg.solve(A,B)
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
328 if (utils.inBetween(p1.x, p2.x, intersection[0,0])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
329 and utils.inBetween(p3.x, p4.x, intersection[0,0])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
330 and utils.inBetween(p1.y, p2.y, intersection[1,0])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
331 and utils.inBetween(p3.y, p4.y, intersection[1,0])):
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
332 return Point(intersection[0,0], intersection[1,0])
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
333 else:
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
334 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
335
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
336 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
337
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
338 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
339 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
340
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
341 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
342
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
343 def __init__(self, positions=None):
331
40790d93200e corrected a bug for Trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
344 if positions != None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
345 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
346 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
347 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
348
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
349 @staticmethod
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
350 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
351 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
352 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
353
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
354 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
355 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
356 t = Trajectory()
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
357 for p in points:
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
358 t.addPosition(p)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
359 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
360
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
361 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
362 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
363
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
364 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
365 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
366
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
367 def __str__(self):
39
e47168f6b694 corrected printing bug
Nicolas Saunier <nico@confins.net>
parents: 38
diff changeset
368 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
369
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
370 def __repr__(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
371 return str(self)
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
372
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
373 def __getitem__(self, i):
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
374 return Point(self.positions[0][i], self.positions[1][i])
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
375
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
376 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
377 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
378 return self
169cd4679366 made Trajectory iterable
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parents: 21
diff changeset
379
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
380 def next(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
381 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
382 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
383 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
384 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
385 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
386
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
387 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
388 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
389 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
390 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
391
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
392 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
393 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
394
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
395 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
396 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
397 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
398
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
399 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
400 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
401
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
402 @staticmethod
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
403 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
404 from matplotlib.pylab import plot
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
405 if lastCoordinate == None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
406 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
407 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
408 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
409 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
410 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
411
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
412 def project(self, homography):
318
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
413 return Trajectory(cvutils.projectTrajectory(homography, self.positions))
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
414
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
415 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
416 Trajectory._draw(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
417
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
418 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
419 Trajectory._draw(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
420
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
421 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, 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
422 from matplotlib.pylab import plot
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
423 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
424 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]]
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
425 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
426
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
427 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
428 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
429
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
430 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
431 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
432
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
433 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
434 from numpy.core.multiarray import array
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
435 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
436
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
437 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
438 # 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
439 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
440
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
441 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
442 # 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
443 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
444
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
445 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
446 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
447 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
448 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
449 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
450 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
451 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
452 [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
453
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
454 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
455 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
456 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
457 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
458 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
459 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
460 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
461 [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
462
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
463 def differentiate(self):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
464 diff = Trajectory()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
465 for i in xrange(1, self.length()):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
466 diff.addPosition(self[i]-self[i-1])
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
467 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
468
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
469 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
470 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
471 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
472 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
473 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
474 from numpy import hypot
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
475 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
476
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
477 def cumulatedDisplacement(self):
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
478 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
479 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
480 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
481 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
482 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
483
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
484 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
485 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
486
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
487 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
488 '''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
489 intersects with the segment of extremities p1 and p2
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
490 the list is empty if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
491 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
492
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
493 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
494 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
495 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
496 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
497 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
498 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
499 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
500 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
501 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
502 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
503 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
504 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
505 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
506
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
507 def getTrajectoryInInterval(self, inter):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
508 if inter.first >=0 and inter.last<= self.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
509 return Trajectory([self.positions[0][inter.first:inter.last],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
510 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
511 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
512 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
513
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
514 def getTrajectoryInPolygon(self, polygon):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
515 '''Returns the set of points inside the polygon
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
516 (array of Nx2 coordinates of the polygon vertices)'''
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
517 import matplotlib.nxutils as nx
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
518 traj = Trajectory()
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
519 result = nx.points_inside_poly(self.asArray().T, polygon)
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
520 for i in xrange(self.length()):
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
521 if result[i]:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
522 traj.addPositionXY(self.positions[0][i], self.positions[1][i])
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
523 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
524
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
525 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
Nicolas Saunier <nico@confins.net>
parents: 16
diff changeset
526
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
527 @staticmethod
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
528 def norm2LCSS(t1, t2, threshold):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
529 return utils.LCSS(t1, t2, threshold, Point.distanceNorm2)
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
530
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
531 @staticmethod
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
532 def normMaxLCSS(t1, t2, threshold):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
533 return utils.LCSS(t1, t2, threshold, lambda p1, p2: (p1-p2).normMax())
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
534
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
535 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
536 '''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
537 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
538 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
539
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
540 def __init__(self, S = [], Y = [], lanes = []):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
541 self.positions = [S,Y]
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
542 self.lanes = lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
543
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
544 def __getitem__(self,i):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
545 return [self.positions[0][i], self.positions[1][i], self.lanes[i]]
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
546
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
547 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
548 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
549
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
550 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
551 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
552
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
553 def addPosition(self, s, y, lane):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
554 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
555 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
556
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
557 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
558 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
559 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
560 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
561
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
562 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
563 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
564 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
565
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
566 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
567 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
568 '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
569 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
570 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
571 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
572 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
573
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
574 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
575
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
576 class MovingObject(STObject):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
577 '''Class for moving objects: a spatio-temporal object
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
578 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
579 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
580
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
581 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
582 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
583 self.positions = positions
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
584 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
585 self.userType = userType
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 290
diff changeset
586 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
587 # compute bounding polygon from trajectory
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
588
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
589 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
590 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
591 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
592 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
593 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
594 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
595 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
596 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
597 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
598 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
599 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
600 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
601 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
602
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
603 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
604 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
605
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
606 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
607 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
608
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
609 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
610 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
611
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
612 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
613 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
614
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
615 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
616 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
617 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
618 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
619 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
620
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
621 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
622 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
623
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
624 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
625 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
626
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
627 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
628 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
629
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
630 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
631 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
632
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
633 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
634 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
635
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
636 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
637 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
638
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
639 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
640 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
641
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
642 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
643 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
644
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
645 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
646 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
647
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
648 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
649 self.positions.draw(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
650
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
651 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
652 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
653
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
654 def play(self, videoFilename, homography = None):
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
655 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant())
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
656
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
657 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
658 '''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
659 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
660 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
661 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
662 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
663
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
664 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
665 '''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
666 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
667 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
668
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
669 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
670 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
671 '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
672 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
673 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
674 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
675
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
676 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
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677 def collisionCourseCosine(movingObject1, movingObject2, instant):
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678 'A positive result indicates that the road users are getting closer'
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679 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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680 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
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681 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
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682
62
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683 def plotRoadUsers(objects, colors):
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684 '''Colors is a PlottingPropertyValues instance'''
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685 from matplotlib.pyplot import figure, axis
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686 figure()
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687 for obj in objects:
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688 obj.draw(colors.get(obj.userType))
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689 axis('equal')
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690
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691
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692 if __name__ == "__main__":
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693 import doctest
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694 import unittest
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695 suite = doctest.DocFileSuite('tests/moving.txt')
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696 #suite = doctest.DocTestSuite()
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697 unittest.TextTestRunner().run(suite)
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698 #doctest.testmod()
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699 #doctest.testfile("example.txt")