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annotate python/moving.py @ 98:b85912ab4064

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refactored projection functions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Jul 2011 16:43:33 -0400
parents b3a1c26e2f22
children 13187af8622d
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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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13 #class MovingObject:
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14
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15 class Interval:
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16 '''Generic Interval'''
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17 def __init__(self, first=0, last=-1, revert = False):
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18 'Warning, do not revert if last<first, it contradicts the definition of empty'
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19 if revert and last<first:
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20 self.first=last
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21 self.last=first
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22 else:
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23 self.first=first
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24 self.last=last
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26 def __str__(self):
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27 return '%d %d'%(self.first, self.last)
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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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35
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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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48
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49 def union(self, interval2):
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50 '''Largest interval comprising self and interval2'''
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51 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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52
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53 def intersection(self, interval2):
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54 '''Largest interval comprising self and interval2'''
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55 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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57
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58 class TimeInterval(Interval):
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59 '''Temporal interval based on frame numbers (hence the modified length method)
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60 may be modified directly by setting first and last'''
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61
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62 def __init__(self, first=0, last=-1):
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63 Interval.__init__(self, first, last, False)
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64
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65 def __getitem__(self, i):
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66 if not self.empty():
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67 return self.first+i
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68
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69 def __iter__(self):
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70 self.iterInstantNum = 0
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71 return self
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72
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73 def next(self):
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74 if self.iterInstantNum >= self.length()-1:
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75 raise StopIteration
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76 else:
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77 self.iterInstantNum += 1
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78 return self[self.iterInstantNum]
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79
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80 def length(self):
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81 '''Returns the length of the interval'''
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82 return float(max(0,self.last-self.first+1))
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83
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84 # class BoundingPolygon:
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85 # '''Class for a polygon bounding a set of points
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86 # with methods to create intersection, unions...
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87 # '''
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88 # We will use the polygon class of Shapely
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89
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90 class STObject:
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91 '''Class for spatio-temporal object
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92 i.e. with temporal and spatial existence
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93 (time interval and bounding polygon for positions (e.g. rectangle)).
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94 It does not mean that the object is defined
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95 for all time instants within the time interval'''
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96
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97 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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98 self.num = num
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99 self.timeInterval = timeInterval
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100 self.boundingPolygon = boundingPolygon
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101
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102 def empty(self):
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103 return self.timeInterval.empty() or not self.boudingPolygon
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104
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105 def getFirstInstant(self):
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106 return self.timeInterval.first
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107
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108 def getLastInstant(self):
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109 return self.timeInterval.last
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110
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111 def getTimeInterval(self):
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112 return self.timeInterval
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113
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114 def commonTimeInterval(self, obj2):
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115 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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116
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117 class Point:
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118 def __init__(self, x, y):
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119 self.x = x
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120 self.y = y
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121
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122 def __str__(self):
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123 return '(%f,%f)'%(self.x,self.y)
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124
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125 def __repr__(self):
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126 return self.__str__()
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127
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128 def __sub__(self, other):
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129 return Point(self.x-other.x, self.y-other.y)
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130
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131 def draw(self, options = ''):
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132 from matplotlib.pylab import plot
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133 plot([self.x], [self.y], 'x'+options)
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134
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135 def norm2Squared(self):
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136 '''2-norm distance (Euclidean distance)'''
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137 return self.x*self.x+self.y*self.y
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138
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139 def norm2(self):
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140 '2-norm distance (Euclidean distance)'
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141 return sqrt(self.norm2Squared())
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142
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143 def aslist(self):
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144 return [self.x, self.y]
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145
98
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diff changeset
146 def project(self, homography):
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147 from numpy.core.multiarray import array
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148 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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diff changeset
149 return Point(projected[0], projected[1])
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150
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151 def inPolygon(self, poly):
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152 '''Returns if the point x, y is inside the polygon.
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153 The polygon is defined by the ordered list of points in poly
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154
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diff changeset
155 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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156
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diff changeset
157 Use points_inside_poly from matplotlib.nxutils'''
79
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158
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159 n = len(poly);
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diff changeset
160 counter = 0;
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161
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162 p1 = poly[0];
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163 for i in range(n+1):
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164 p2 = poly[i % n];
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165 if self.y > min(p1.y,p2.y):
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166 if self.y <= max(p1.y,p2.y):
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167 if self.x <= max(p1.x,p2.x):
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diff changeset
168 if p1.y != p2.y:
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169 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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170 if p1.x == p2.x or self.x <= xinters:
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171 counter+=1;
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172 p1=p2
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173 return (counter%2 == 1);
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174
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175
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176 @staticmethod
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177 def dot(p1, p2):
89
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178 'Scalar product'
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179 return p1.x*p2.x+p1.y*p2.y
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180
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181 @staticmethod
90
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182 def cross(p1, p2):
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183 'Cross product'
89
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184 return p1.x*p2.y-p1.y*p2.x
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185
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186 @staticmethod
38
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187 def distanceNorm2(p1, p2):
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188 return (p1-p2).norm2()
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189
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190 @staticmethod
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191 def plotAll(points, color='r'):
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192 from matplotlib.pyplot import scatter
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193 scatter([p.x for p in points],[p.y for p in points], c=color)
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194
7
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195 class Trajectory:
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196 '''Class for trajectories
22
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197 i.e. a temporal sequence of positions
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198
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199 the class is iterable.'''
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200
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201 def __init__(self, positions=None):
43
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202 self.positions = positions
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203
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204 @staticmethod
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205 def load(line1, line2):
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206 return Trajectory([[float(n) for n in line1.split(' ')],
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207 [float(n) for n in line2.split(' ')]])
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208
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209 def __str__(self):
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210 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
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211
69
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212 def __repr__(self):
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213 return str(self)
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214
23
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215 def __getitem__(self, i):
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216 return Point(self.positions[0][i], self.positions[1][i])
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diff changeset
217
22
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218 def __iter__(self):
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219 self.iterInstantNum = 0
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220 return self
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221
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222 def next(self):
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diff changeset
223 if self.iterInstantNum >= self.length():
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224 raise StopIteration
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225 else:
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diff changeset
226 self.iterInstantNum += 1
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diff changeset
227 return self[self.iterInstantNum-1]
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228
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229 def addPositionXY(self, x, y):
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diff changeset
230 if not self.positions:
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diff changeset
231 self.positions = [[x],[y]]
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diff changeset
232 else:
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diff changeset
233 self.positions[0].append(x)
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diff changeset
234 self.positions[1].append(y)
7
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diff changeset
235
71
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diff changeset
236 def addPosition(self, p):
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diff changeset
237 self.addPositionXY(p.x, p.y)
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diff changeset
238
25
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diff changeset
239 def draw(self, options = ''):
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diff changeset
240 from matplotlib.pylab import plot
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diff changeset
241 plot(self.positions[0], self.positions[1], options)
2
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parents: 0
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242
21
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diff changeset
243 def length(self):
23
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diff changeset
244 return len(self.positions[0])
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245
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diff changeset
246 def getXCoordinates(self):
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diff changeset
247 return self.positions[0]
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248
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diff changeset
249 def getYCoordinates(self):
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diff changeset
250 return self.positions[1]
92
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diff changeset
251
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diff changeset
252 def asArray(self):
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diff changeset
253 from numpy.core.multiarray import array
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diff changeset
254 return array(self.positions)
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diff changeset
255
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e7bbe8465591 homography and other utils
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diff changeset
256 def xBounds(self):
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diff changeset
257 # look for function that does min and max in one pass
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diff changeset
258 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
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diff changeset
259
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diff changeset
260 def yBounds(self):
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diff changeset
261 # look for function that does min and max in one pass
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diff changeset
262 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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parents: 19
diff changeset
263
43
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diff changeset
264 def add(self, traj2):
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diff changeset
265 '''Returns a new trajectory of the same length'''
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diff changeset
266 if self.length() != traj2.length():
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diff changeset
267 print 'Trajectories of different lengths'
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diff changeset
268 return None
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diff changeset
269 else:
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diff changeset
270 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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parents: 41
diff changeset
271 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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diff changeset
272
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diff changeset
273 def subtract(self, traj2):
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diff changeset
274 '''Returns a new trajectory of the same length'''
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parents: 41
diff changeset
275 if self.length() != traj2.length():
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diff changeset
276 print 'Trajectories of different lengths'
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diff changeset
277 return None
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diff changeset
278 else:
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diff changeset
279 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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parents: 41
diff changeset
280 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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parents: 41
diff changeset
281
16
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parents: 14
diff changeset
282 def norm(self):
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diff changeset
283 '''Returns the list of the norms at each instant'''
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diff changeset
284 # def add(x, y): return x+y
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diff changeset
285 # 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
286 # return sqrt(sq)
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parents: 14
diff changeset
287 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
14
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parents: 13
diff changeset
288
49
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diff changeset
289 def cumulatedDisplacement(self):
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
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diff changeset
290 'Returns the sum of the distances between each successive point'
49
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diff changeset
291 displacement = 0
1fb5606506ae re-arrangement
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parents: 43
diff changeset
292 for i in xrange(self.length()-1):
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diff changeset
293 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
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diff changeset
294 return displacement
1fb5606506ae re-arrangement
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parents: 43
diff changeset
295
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parents: 43
diff changeset
296 def wiggliness(self):
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diff changeset
297 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
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diff changeset
298
83
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diff changeset
299 def getIntersections(self, p1, p2):
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diff changeset
300 '''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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parents: 90
diff changeset
301 intersects with the segment of extremities p1 and p2
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diff changeset
302 the list is empty if there is no crossing'''
83
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parents: 79
diff changeset
303 indices = []
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diff changeset
304
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parents: 79
diff changeset
305 for i in xrange(self.length()-1):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
306 q1=self.__getitem__(i)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
307 q2=self.__getitem__(i+1)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
308 p = utils.segmentIntersection(q1, q2, p1, p2)
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parents: 79
diff changeset
309 if p:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
310 if q1.x != q2.x:
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parents: 79
diff changeset
311 ratio = (p.x-q1.x)/(q2.x-q1.x)
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diff changeset
312 elif q1.y != q2.y:
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diff changeset
313 ratio = (p.y-q1.y)/(q2.y-q1.y)
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parents: 79
diff changeset
314 else:
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parents: 79
diff changeset
315 ratio = 0
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parents: 79
diff changeset
316 indices.append(i+ratio)
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317 return indices
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parents: 79
diff changeset
318
43
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diff changeset
319 def getTrajectoryInInterval(self, inter):
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diff changeset
320 if inter.first >=0 and inter.last<= self.length():
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diff changeset
321 return Trajectory([self.positions[0][inter.first:inter.last],
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parents: 41
diff changeset
322 self.positions[1][inter.first:inter.last]])
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diff changeset
323 else:
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parents: 41
diff changeset
324 return None
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parents: 41
diff changeset
325
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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diff changeset
326 def getTrajectoryInPolygon(self, polygon):
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diff changeset
327 '''Returns the set of points inside the polygon
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parents: 91
diff changeset
328 (array of Nx2 coordinates of the polygon vertices)'''
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diff changeset
329 import matplotlib.nxutils as nx
79
5d487f183fe2 added method to test points in polygons and tests
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diff changeset
330 t = Trajectory()
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
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parents: 91
diff changeset
331 result = nx.points_inside_poly(self.asArray().T, polygon)
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
332 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
333 if result[i]:
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diff changeset
334 t.addPositionXY(self.positions[0][i], self.positions[1][i])
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
335 if t.length()>0:
5d487f183fe2 added method to test points in polygons and tests
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diff changeset
336 return t
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diff changeset
337 else:
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diff changeset
338 return None
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
339
5d487f183fe2 added method to test points in polygons and tests
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diff changeset
340 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
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parents: 16
diff changeset
341
62
290fceb125d2 moved road user types and added plotting for all road users
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parents: 58
diff changeset
342 ##################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
343 # Moving Objects
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diff changeset
344 ##################
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parents: 58
diff changeset
345
290fceb125d2 moved road user types and added plotting for all road users
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parents: 58
diff changeset
346 userTypeNames = ['car',
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parents: 58
diff changeset
347 'pedestrian',
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parents: 58
diff changeset
348 'twowheels',
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parents: 58
diff changeset
349 'bus'
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parents: 58
diff changeset
350 'truck']
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parents: 58
diff changeset
351
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
352 class MovingObject(STObject):
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parents: 6
diff changeset
353 '''Class for moving objects
54
c354d41ef7cd corrected code for usertype in movingobject
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parents: 49
diff changeset
354 i.e. with a trajectory and a geometry (volume) (constant)
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parents: 49
diff changeset
355 and a usertype (e.g. road user)
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
356 '''
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parents: 6
diff changeset
357
54
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parents: 49
diff changeset
358 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
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parents: 6
diff changeset
359 STObject.__init__(self, num, timeInterval)
16
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parents: 14
diff changeset
360 self.positions = positions
7
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parents: 6
diff changeset
361 self.geometry = geometry
54
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diff changeset
362 self.userType = userType
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
363 # compute bounding polygon from trajectory
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
364
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
365 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
366 '''Returns a new object extracted from self,
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
367 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
368 intersection = inter.intersection(self.getTimeInterval())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
369 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
370 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
371 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
372 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
373 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
374 return obj
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
375 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
376 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
377 return None
6d11d9e7ad4e methods for trajectories and objects
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parents: 41
diff changeset
378
21
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
379 def length(self):
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parents: 19
diff changeset
380 return self.timeInterval.length()
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parents: 19
diff changeset
381
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
382 def getPositions(self):
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Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
383 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
384
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
385 def getVelocities(self):
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parents: 30
diff changeset
386 return self.velocities
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parents: 30
diff changeset
387
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
388 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
389 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
390
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
391 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
392 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
393
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
394 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
395 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
396
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
397 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
398 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
399
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
400 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
401 return self.velocities[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
402
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
403 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
404 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
405
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
406 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
407 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
408
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
409 def draw(self, options = ''):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
410 self.positions.draw(options)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
411
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
412 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
413 '''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
414 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
415 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
416 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
417 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
418
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
419 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
420 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
421 '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
422 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
423 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
424 return moving.Point.dot(deltap, deltav)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
425
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
426 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
427 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
428 '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
429 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
430 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
431 return moving.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
432
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
433 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
434 '''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
435 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
436 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
437 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
438 obj.draw(colors.get(obj.userType))
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
439 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
440
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
441
13
30559b2cf7a9 minimal code to load UBC data
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
442 # need for a class representing the indicators, their units, how to print them in graphs...
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
443 class TemporalIndicator:
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
444 '''Class for temporal indicators
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
445 i.e. indicators that take a value at specific instants
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
446
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
447 values should be
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
448 * a dict, for the values at specific time instants
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
449 * or a list with a time interval object if continuous measurements
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
450
30
418b41056e6c after merge
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parents: 28
diff changeset
451 it should have more information like name, unit'''
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
452
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
453 def __init__(self, name, values, timeInterval=None):
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
454 self.name = name
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
455 self.isCosine = name.find('Cosine')
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
456 self.values = values
58
40e1508380ed developed indicator classes
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parents: 56
diff changeset
457 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
458 if timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
459 assert len(values) == timeInterval.length()
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
460
68
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
461 def empty(self):
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
462 return len(self.values) == 0
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
463
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
464 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
465 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
466 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
467 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
468 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
469 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
470 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
471 return None # default
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
472
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
473 def __iter__(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
474 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
475 return self
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 next(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
478 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
479 # 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
480 raise StopIteration
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
481 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
482 self.iterInstantNum += 1
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
483 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
484 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
485 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
486 return self.values.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
487
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
488 def getTimeInterval(self):
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
489 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
490 instants = self.values.keys()
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
491 if instants:
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
492 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
493 else:
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
494 self.timeInterval = TimeInterval()
93
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
495 return self.timeInterval
19603b5fa578 added timeinterval computation for indicators based on dictionaries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 92
diff changeset
496
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
497 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
498 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
499 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
500 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
501 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
502
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 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
504 '''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
505 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
506 (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
507 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
508 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
509 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
510 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
511 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
512 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
513
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
514 class SeverityIndicator(TemporalIndicator):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
515 '''Class for severity indicators
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
516 field mostSevereIsMax is True
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
517 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
518
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
519 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
520 TemporalIndicator.__init__(self, name, values, timeInterval)
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
521 self.mostSevereIsMax = mostSevereIsMax
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
522 self.ignoredValue = ignoredValue
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
523
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
524 def getMostSevereValue(self, minNInstants=1):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
525 from matplotlib.mlab import find
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
526 from numpy.core.multiarray import array
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
527 from numpy.core.fromnumeric import mean
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
528 values = array(self.values.values())
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
529 if self.ignoredValue:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
530 indices = find(values != self.ignoredValue)
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
531 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
532 indices = range(len(values))
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
533 if len(indices) >= minNInstants:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
534 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
535 return mean(values[:minNInstants])
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
536 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
537 return None
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
538
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
539 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
540 '''Returns a dictionary
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
541 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
542 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
543 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
544
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
545 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
546
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
547 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
548 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
549 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
550 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
551 p = trajectory[k]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
552 i = floor(p.x/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
553 j = floor(p.y/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
554 if indicatorMap.has_key((i,j)):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
555 indicatorMap[(i,j)].append(indicatorValues[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
556 else:
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557 indicatorMap[(i,j)] = [indicatorValues[k]]
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558 for k in indicatorMap.keys():
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559 indicatorMap[k] = mean(indicatorMap[k])
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560 return indicatorMap
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parents: 64
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561
66
56fe4ef1377e generalized map combination to different functions
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562 def combineIndicatorMaps(maps, squareSize, combinationFunction):
65
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563 '''Puts many indicator maps together
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564 (averaging the values in each cell
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parents: 64
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565 if more than one maps has a value)'''
66
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566 #from numpy import mean
65
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567 indicatorMap = {}
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parents: 64
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568 for m in maps:
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parents: 64
diff changeset
569 for k,v in m.iteritems():
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parents: 64
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570 if indicatorMap.has_key(k):
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571 indicatorMap[k].append(v)
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572 else:
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parents: 64
diff changeset
573 indicatorMap[k] = [v]
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574 for k in indicatorMap.keys():
66
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parents: 65
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575 indicatorMap[k] = combinationFunction(indicatorMap[k])
65
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576 return indicatorMap
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parents: 64
diff changeset
577
2
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parents: 0
diff changeset
578 if __name__ == "__main__":
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parents: 0
diff changeset
579 import doctest
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parents: 0
diff changeset
580 import unittest
43
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parents: 41
diff changeset
581 suite = doctest.DocFileSuite('tests/moving.txt')
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parents: 41
diff changeset
582 #suite = doctest.DocTestSuite()
2
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diff changeset
583 unittest.TextTestRunner().run(suite)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
584 #doctest.testmod()
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parents: 0
diff changeset
585 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
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586