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bug correction for cosine functions in python
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 01 Sep 2011 16:44:23 -0400
parents 550556378466
children 74b1fc68d4df
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils;
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5 import cvutils;
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6
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7 from math import sqrt, hypot;
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8
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9 #from shapely.geometry import Polygon
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10
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11 __metaclass__ = type
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12
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13 class Interval:
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14 '''Generic Interval'''
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15 def __init__(self, first=0, last=-1, revert = False):
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16 'Warning, do not revert if last<first, it contradicts the definition of empty'
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17 if revert and last<first:
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18 self.first=last
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19 self.last=first
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20 else:
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21 self.first=first
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22 self.last=last
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23
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24 def __str__(self):
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25 return '[{0}, {1}]'.format(self.first, self.last)
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26
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27 def __repr__(self):
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28 return self.__str__()
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30 def empty(self):
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31 return self.first > self.last
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33 def length(self):
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34 '''Returns the length of the interval'''
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35 return float(max(0,self.last-self.first))
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37 def equal(self, i2):
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38 return self.first==i2.first and self.last == i2.last
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39
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40 def getList(self):
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41 return [self.first, self.last]
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43 def contains(self, instant):
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44 return (self.first<=instant and self.last>=instant)
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46 def inside(self, interval2):
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47 'indicates if the temporal interval of self is comprised in interval2'
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48 return (self.first >= interval2.first) and (self.last <= interval2.last)
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50 def union(self, interval2):
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51 '''Largest interval comprising self and interval2'''
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52 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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53
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54 def intersection(self, interval2):
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55 '''Largest interval comprised in both self and interval2'''
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56 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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58
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59 class TimeInterval(Interval):
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60 '''Temporal interval based on frame numbers (hence the modified length method)
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61 may be modified directly by setting first and last'''
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62
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63 def __init__(self, first=0, last=-1):
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64 Interval.__init__(self, first, last, False)
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65
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66 def __getitem__(self, i):
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67 if not self.empty():
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68 return self.first+i
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69
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70 def __iter__(self):
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71 self.iterInstantNum = -1
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72 return self
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73
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74 def next(self):
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75 if self.iterInstantNum >= self.length()-1:
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76 raise StopIteration
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77 else:
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78 self.iterInstantNum += 1
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79 return self[self.iterInstantNum]
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80
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81 def length(self):
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82 '''Returns the length of the interval'''
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83 return float(max(0,self.last-self.first+1))
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84
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85 # class BoundingPolygon:
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86 # '''Class for a polygon bounding a set of points
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87 # with methods to create intersection, unions...
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88 # '''
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89 # We will use the polygon class of Shapely
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90
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91 class STObject:
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92 '''Class for spatio-temporal object
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93 i.e. with temporal and spatial existence
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94 (time interval and bounding polygon for positions (e.g. rectangle)).
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95 It does not mean that the object is defined
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96 for all time instants within the time interval'''
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97
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98 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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99 self.num = num
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100 self.timeInterval = timeInterval
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101 self.boundingPolygon = boundingPolygon
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102
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103 def empty(self):
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104 return self.timeInterval.empty() or not self.boudingPolygon
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105
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106 def getFirstInstant(self):
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107 return self.timeInterval.first
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108
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109 def getLastInstant(self):
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110 return self.timeInterval.last
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111
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112 def getTimeInterval(self):
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113 return self.timeInterval
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114
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115 def existsAtInstant(self, t):
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116 return self.timeInterval.contains(t)
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117
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118 def commonTimeInterval(self, obj2):
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119 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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120
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121 class Point:
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122 def __init__(self, x, y):
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123 self.x = x
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124 self.y = y
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125
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126 def __str__(self):
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127 return '(%f,%f)'%(self.x,self.y)
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128
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129 def __repr__(self):
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130 return self.__str__()
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131
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132 def __sub__(self, other):
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133 return Point(self.x-other.x, self.y-other.y)
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134
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135 def multiply(self, alpha):
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136 return Point(self.x*alpha, self.y*alpha)
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137
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138 def draw(self, options = 'o'):
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139 from matplotlib.pylab import plot
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140 plot([self.x], [self.y], options)
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141
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142 def norm2Squared(self):
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143 '''2-norm distance (Euclidean distance)'''
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144 return self.x*self.x+self.y*self.y
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145
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146 def norm2(self):
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147 '2-norm distance (Euclidean distance)'
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148 return sqrt(self.norm2Squared())
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149
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150 def aslist(self):
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diff changeset
151 return [self.x, self.y]
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152
98
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153 def project(self, homography):
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diff changeset
154 from numpy.core.multiarray import array
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diff changeset
155 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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diff changeset
156 return Point(projected[0], projected[1])
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157
79
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158 def inPolygon(self, poly):
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159 '''Returns if the point x, y is inside the polygon.
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160 The polygon is defined by the ordered list of points in poly
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161
92
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diff changeset
162 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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163
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164 Use points_inside_poly from matplotlib.nxutils'''
79
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165
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166 n = len(poly);
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diff changeset
167 counter = 0;
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168
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169 p1 = poly[0];
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170 for i in range(n+1):
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171 p2 = poly[i % n];
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172 if self.y > min(p1.y,p2.y):
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173 if self.y <= max(p1.y,p2.y):
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174 if self.x <= max(p1.x,p2.x):
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diff changeset
175 if p1.y != p2.y:
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176 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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177 if p1.x == p2.x or self.x <= xinters:
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178 counter+=1;
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179 p1=p2
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180 return (counter%2 == 1);
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181
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182
49
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183 @staticmethod
67
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184 def dot(p1, p2):
89
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185 'Scalar product'
67
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186 return p1.x*p2.x+p1.y*p2.y
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187
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188 @staticmethod
90
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189 def cross(p1, p2):
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190 'Cross product'
89
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191 return p1.x*p2.y-p1.y*p2.x
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192
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193 @staticmethod
38
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194 def distanceNorm2(p1, p2):
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195 return (p1-p2).norm2()
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196
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197 @staticmethod
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198 def plotAll(points, color='r'):
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199 from matplotlib.pyplot import scatter
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200 scatter([p.x for p in points],[p.y for p in points], c=color)
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201
7
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202 class Trajectory:
2
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203 '''Class for trajectories
22
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204 i.e. a temporal sequence of positions
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205
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206 the class is iterable.'''
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207
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208 def __init__(self, positions=None):
113
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diff changeset
209 if positions:
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210 self.positions = positions
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211 else:
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212 self.positions = [[],[]]
43
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diff changeset
213
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diff changeset
214 @staticmethod
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215 def load(line1, line2):
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diff changeset
216 return Trajectory([[float(n) for n in line1.split(' ')],
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diff changeset
217 [float(n) for n in line2.split(' ')]])
7
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parents: 6
diff changeset
218
16
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diff changeset
219 def __str__(self):
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diff changeset
220 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
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diff changeset
221
69
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diff changeset
222 def __repr__(self):
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diff changeset
223 return str(self)
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224
23
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diff changeset
225 def __getitem__(self, i):
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diff changeset
226 return Point(self.positions[0][i], self.positions[1][i])
23
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diff changeset
227
22
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diff changeset
228 def __iter__(self):
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diff changeset
229 self.iterInstantNum = 0
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diff changeset
230 return self
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parents: 21
diff changeset
231
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diff changeset
232 def next(self):
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diff changeset
233 if self.iterInstantNum >= self.length():
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diff changeset
234 raise StopIteration
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parents: 21
diff changeset
235 else:
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diff changeset
236 self.iterInstantNum += 1
23
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diff changeset
237 return self[self.iterInstantNum-1]
22
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diff changeset
238
71
45e958ccd9bd added new addPosition method to Trajectory
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diff changeset
239 def addPositionXY(self, x, y):
113
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diff changeset
240 self.positions[0].append(x)
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diff changeset
241 self.positions[1].append(y)
7
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diff changeset
242
71
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diff changeset
243 def addPosition(self, p):
79
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diff changeset
244 self.addPositionXY(p.x, p.y)
71
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diff changeset
245
25
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
246 def draw(self, options = ''):
7
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parents: 6
diff changeset
247 from matplotlib.pylab import plot
25
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parents: 23
diff changeset
248 plot(self.positions[0], self.positions[1], options)
2
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parents: 0
diff changeset
249
21
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parents: 19
diff changeset
250 def length(self):
23
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diff changeset
251 return len(self.positions[0])
21
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parents: 19
diff changeset
252
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parents: 19
diff changeset
253 def getXCoordinates(self):
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diff changeset
254 return self.positions[0]
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parents: 19
diff changeset
255
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parents: 19
diff changeset
256 def getYCoordinates(self):
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parents: 19
diff changeset
257 return self.positions[1]
92
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parents: 91
diff changeset
258
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diff changeset
259 def asArray(self):
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diff changeset
260 from numpy.core.multiarray import array
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diff changeset
261 return array(self.positions)
21
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parents: 19
diff changeset
262
14
e7bbe8465591 homography and other utils
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parents: 13
diff changeset
263 def xBounds(self):
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parents: 13
diff changeset
264 # look for function that does min and max in one pass
21
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parents: 19
diff changeset
265 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
14
e7bbe8465591 homography and other utils
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parents: 13
diff changeset
266
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parents: 13
diff changeset
267 def yBounds(self):
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diff changeset
268 # look for function that does min and max in one pass
21
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diff changeset
269 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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parents: 19
diff changeset
270
43
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diff changeset
271 def add(self, traj2):
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diff changeset
272 '''Returns a new trajectory of the same length'''
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diff changeset
273 if self.length() != traj2.length():
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parents: 41
diff changeset
274 print 'Trajectories of different lengths'
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diff changeset
275 return None
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diff changeset
276 else:
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parents: 41
diff changeset
277 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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parents: 41
diff changeset
278 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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parents: 41
diff changeset
279
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parents: 41
diff changeset
280 def subtract(self, traj2):
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parents: 41
diff changeset
281 '''Returns a new trajectory of the same length'''
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parents: 41
diff changeset
282 if self.length() != traj2.length():
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parents: 41
diff changeset
283 print 'Trajectories of different lengths'
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parents: 41
diff changeset
284 return None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
285 else:
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parents: 41
diff changeset
286 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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diff changeset
287 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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parents: 41
diff changeset
288
16
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parents: 14
diff changeset
289 def norm(self):
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diff changeset
290 '''Returns the list of the norms at each instant'''
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parents: 14
diff changeset
291 # def add(x, y): return x+y
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parents: 14
diff changeset
292 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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parents: 14
diff changeset
293 # return sqrt(sq)
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parents: 14
diff changeset
294 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
14
e7bbe8465591 homography and other utils
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parents: 13
diff changeset
295
49
1fb5606506ae re-arrangement
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diff changeset
296 def cumulatedDisplacement(self):
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
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parents: 90
diff changeset
297 'Returns the sum of the distances between each successive point'
49
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diff changeset
298 displacement = 0
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diff changeset
299 for i in xrange(self.length()-1):
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diff changeset
300 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
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diff changeset
301 return displacement
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parents: 43
diff changeset
302
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parents: 43
diff changeset
303 def wiggliness(self):
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parents: 43
diff changeset
304 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
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diff changeset
305
83
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diff changeset
306 def getIntersections(self, p1, p2):
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diff changeset
307 '''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
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diff changeset
308 intersects with the segment of extremities p1 and p2
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
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diff changeset
309 the list is empty if there is no crossing'''
83
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parents: 79
diff changeset
310 indices = []
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parents: 79
diff changeset
311
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
312 for i in xrange(self.length()-1):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
313 q1=self.__getitem__(i)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
314 q2=self.__getitem__(i+1)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
315 p = utils.segmentIntersection(q1, q2, p1, p2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
316 if p:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
317 if q1.x != q2.x:
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parents: 79
diff changeset
318 ratio = (p.x-q1.x)/(q2.x-q1.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
319 elif q1.y != q2.y:
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parents: 79
diff changeset
320 ratio = (p.y-q1.y)/(q2.y-q1.y)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
321 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
322 ratio = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
323 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
324 return indices
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
325
43
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diff changeset
326 def getTrajectoryInInterval(self, inter):
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parents: 41
diff changeset
327 if inter.first >=0 and inter.last<= self.length():
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parents: 41
diff changeset
328 return Trajectory([self.positions[0][inter.first:inter.last],
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parents: 41
diff changeset
329 self.positions[1][inter.first:inter.last]])
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parents: 41
diff changeset
330 else:
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parents: 41
diff changeset
331 return None
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parents: 41
diff changeset
332
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
333 def getTrajectoryInPolygon(self, polygon):
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parents: 91
diff changeset
334 '''Returns the set of points inside the polygon
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parents: 91
diff changeset
335 (array of Nx2 coordinates of the polygon vertices)'''
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
336 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
337 traj = Trajectory()
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
338 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
339 for i in xrange(self.length()):
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
340 if result[i]:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
341 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
342 return traj
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
343
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
344 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
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parents: 16
diff changeset
345
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
346 ##################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
347 # Moving Objects
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parents: 58
diff changeset
348 ##################
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parents: 58
diff changeset
349
290fceb125d2 moved road user types and added plotting for all road users
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parents: 58
diff changeset
350 userTypeNames = ['car',
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
351 'pedestrian',
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
352 'twowheels',
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
353 'bus'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
354 'truck']
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parents: 58
diff changeset
355
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
356 class MovingObject(STObject):
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parents: 6
diff changeset
357 '''Class for moving objects
54
c354d41ef7cd corrected code for usertype in movingobject
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parents: 49
diff changeset
358 i.e. with a trajectory and a geometry (volume) (constant)
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parents: 49
diff changeset
359 and a usertype (e.g. road user)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
360 '''
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parents: 6
diff changeset
361
54
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parents: 49
diff changeset
362 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
363 STObject.__init__(self, num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
364 self.positions = positions
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
365 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
366 self.userType = userType
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
367 # compute bounding polygon from trajectory
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
368
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
369 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
370 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
371 restricted to time interval inter'''
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
372 intersection = inter.intersection(self.getTimeInterval())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
373 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
374 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
375 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
376 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
377 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
378 return obj
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
379 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
380 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
381 return None
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
382
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
383 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
384 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
385
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
386 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
387 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
388
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
389 def getVelocities(self):
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Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
390 return self.velocities
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Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
391
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
392 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
393 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
394
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
395 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
396 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
397
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
398 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
399 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
400
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
401 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
402 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
403
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
404 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
405 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
406
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
407 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
408 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
409
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
410 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
411 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
412
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
413 def draw(self, options = ''):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
414 self.positions.draw(options)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
415
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
416 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
417 '''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
418 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
419 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
420 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
421 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
422
67
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diff changeset
423 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
424 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
425 '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
426 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
427 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
428 return Point.dot(deltap, deltav)
67
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
429
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
430 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
431 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
432 '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
433 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
434 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
435 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
436
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
437 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
438 '''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
439 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
440 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
441 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
442 obj.draw(colors.get(obj.userType))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
443 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
444
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
445
13
30559b2cf7a9 minimal code to load UBC data
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
446 # need for a class representing the indicators, their units, how to print them in graphs...
6
597d61c1eebe minor doc update
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parents: 2
diff changeset
447 class TemporalIndicator:
597d61c1eebe minor doc update
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parents: 2
diff changeset
448 '''Class for temporal indicators
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
449 i.e. indicators that take a value at specific instants
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
450
58
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parents: 56
diff changeset
451 values should be
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
452 * a dict, for the values at specific time instants
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
453 * or a list with a time interval object if continuous measurements
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parents: 56
diff changeset
454
30
418b41056e6c after merge
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parents: 28
diff changeset
455 it should have more information like name, unit'''
418b41056e6c after merge
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parents: 28
diff changeset
456
58
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diff changeset
457 def __init__(self, name, values, timeInterval=None):
30
418b41056e6c after merge
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parents: 28
diff changeset
458 self.name = name
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
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diff changeset
459 self.isCosine = name.find('Cosine')
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
460 self.values = values
58
40e1508380ed developed indicator classes
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parents: 56
diff changeset
461 self.timeInterval = timeInterval
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
462 if timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
463 assert len(values) == timeInterval.length()
58
40e1508380ed developed indicator classes
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parents: 56
diff changeset
464
68
846fa9dc47de empty method for indicators
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diff changeset
465 def empty(self):
846fa9dc47de empty method for indicators
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parents: 67
diff changeset
466 return len(self.values) == 0
846fa9dc47de empty method for indicators
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parents: 67
diff changeset
467
69
cc192d0450b3 added full support for two implementations of indicators, with tests
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parents: 68
diff changeset
468 def __getitem__(self, i):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
469 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
470 if self.timeInterval.contains(i):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
471 return self.values[i-self.timeInterval.first]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
472 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
473 if i in self.values.keys():
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
474 return self.values[i]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
475 return None # default
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
476
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
477 def __iter__(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
478 self.iterInstantNum = 0 # index in the interval or keys of the dict
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
479 return self
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
480
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
481 def next(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
482 if self.iterInstantNum >= len(self.values):#(self.timeInterval and self.iterInstantNum>=self.timeInterval.length())\
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
483 # or (self.iterInstantNum >= self.values)
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
484 raise StopIteration
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
485 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
486 self.iterInstantNum += 1
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
487 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
488 return self.values[self.iterInstantNum-1]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
489 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
490 return self.values.values()[self.iterInstantNum-1]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
491
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
492 def getTimeInterval(self):
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
493 if not self.timeInterval and type(self.values)==dict:
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
494 instants = self.values.keys()
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
495 if instants:
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
496 self.timeInterval = TimeInterval(instants[0], instants[-1])
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
497 else:
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
498 self.timeInterval = TimeInterval()
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
499 return self.timeInterval
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
500
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
501 def getValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
502 if self.timeInterval:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
503 return self.values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
504 else:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
505 return self.values.values()
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
506
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
507 def getAngleValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
508 '''if the indicator is a function of an angle,
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
509 transform it to an angle (eg cos)
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
510 (no transformation otherwise)'''
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
511 from numpy import arccos
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
512 values = self.getValues()
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
513 if self.isCosine >= 0:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
514 return [arccos(c) for c in values]
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
515 else:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
516 return values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
517
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
518 class SeverityIndicator(TemporalIndicator):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
519 '''Class for severity indicators
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
520 field mostSevereIsMax is True
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
521 if the most severe value taken by the indicator is the maximum'''
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
522
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
523 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
524 TemporalIndicator.__init__(self, name, values, timeInterval)
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
525 self.mostSevereIsMax = mostSevereIsMax
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
526 self.ignoredValue = ignoredValue
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
527
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
528 def getMostSevereValue(self, minNInstants=1):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
529 from matplotlib.mlab import find
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
530 from numpy.core.multiarray import array
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
531 from numpy.core.fromnumeric import mean
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
532 values = array(self.values.values())
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
533 if self.ignoredValue:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
534 indices = find(values != self.ignoredValue)
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
535 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
536 indices = range(len(values))
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
537 if len(indices) >= minNInstants:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
538 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
539 return mean(values[:minNInstants])
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
540 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
541 return None
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
542
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
543 def indicatorMap(indicatorValues, trajectory, squareSize):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
544 '''Returns a dictionary
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
545 with keys for the indices of the cells (squares)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
546 in which the trajectory positions are located
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
547 at which the indicator values are attached
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
548
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
549 ex: speeds and trajectory'''
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
550
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
551 from numpy import floor, mean
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
552 assert len(indicatorValues) == trajectory.length()
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
553 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
554 for k in xrange(trajectory.length()):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
555 p = trajectory[k]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
556 i = floor(p.x/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
557 j = floor(p.y/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
558 if indicatorMap.has_key((i,j)):
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
559 indicatorMap[(i,j)].append(indicatorValues[k])
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
560 else:
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parents: 64
diff changeset
561 indicatorMap[(i,j)] = [indicatorValues[k]]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
562 for k in indicatorMap.keys():
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
563 indicatorMap[k] = mean(indicatorMap[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
564 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
565
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
566 def indicatorMapFromPolygon(value, polygon, squareSize):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
567 '''Fills an indicator map with the value within the polygon
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
568 (array of Nx2 coordinates of the polygon vertices)'''
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
569 import matplotlib.nxutils as nx
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
570 from numpy.core.multiarray import array, arange
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
571 from numpy import floor
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
572
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
573 points = []
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
574 for x in arange(min(polygon[:,0])+squareSize/2, max(polygon[:,0]), squareSize):
550556378466 added functionalities to indicator maps
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parents: 114
diff changeset
575 for y in arange(min(polygon[:,1])+squareSize/2, max(polygon[:,1]), squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
576 points.append([x,y])
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
577 inside = nx.points_inside_poly(array(points), polygon)
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
578 indicatorMap = {}
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
579 for i in xrange(len(inside)):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
580 if inside[i]:
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parents: 114
diff changeset
581 indicatorMap[(floor(points[i][0]/squareSize), floor(points[i][1]/squareSize))] = 0
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
582 return indicatorMap
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
583
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
584 def indicatorMapFromAxis(value, limits, squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
585 '''axis = [xmin, xmax, ymin, ymax] '''
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
586 from numpy.core.multiarray import arange
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
587 from numpy import floor
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
588 indicatorMap = {}
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
589 for x in arange(limits[0], limits[1], squareSize):
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
590 for y in arange(limits[2], limits[3], squareSize):
550556378466 added functionalities to indicator maps
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parents: 114
diff changeset
591 indicatorMap[(floor(x/squareSize), floor(y/squareSize))] = value
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
592 return indicatorMap
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 114
diff changeset
593
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
594 def combineIndicatorMaps(maps, squareSize, combinationFunction):
65
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
595 '''Puts many indicator maps together
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
596 (averaging the values in each cell
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
597 if more than one maps has a value)'''
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
598 #from numpy import mean
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
599 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
600 for m in maps:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
601 for k,v in m.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
602 if indicatorMap.has_key(k):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
603 indicatorMap[k].append(v)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
604 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
605 indicatorMap[k] = [v]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
606 for k in indicatorMap.keys():
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
607 indicatorMap[k] = combinationFunction(indicatorMap[k])
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
608 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
609
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
610 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
611 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
612 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
613 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
614 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
615 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
616 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
617 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
618