Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 245:bd8ab323c198
corrected issue with predictPosiont static method
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 17 Jul 2012 13:25:34 -0400 |
parents | 5027c174ab90 |
children | 571ba5ed22e2 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils; |
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5 import cvutils; |
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6 |
16 | 7 from math import sqrt, hypot; |
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 |
26 | 13 class Interval: |
14 '''Generic Interval''' | |
15 def __init__(self, first=0, last=-1, revert = False): | |
16 'Warning, do not revert if last<first, it contradicts the definition of empty' | |
17 if revert and last<first: | |
18 self.first=last | |
19 self.last=first | |
20 else: | |
21 self.first=first | |
22 self.last=last | |
2
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23 |
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24 def __str__(self): |
104
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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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29 |
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30 def empty(self): |
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31 return self.first > self.last |
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32 |
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33 def length(self): |
43
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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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36 |
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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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42 |
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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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45 |
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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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49 |
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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): |
104
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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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57 |
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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) |
71
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61 may be modified directly by setting first and last''' |
26 | 62 |
63 def __init__(self, first=0, last=-1): | |
64 Interval.__init__(self, first, last, False) | |
65 | |
27
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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): |
107
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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 |
26 | 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 |
6 | 94 (time interval and bounding polygon for positions (e.g. rectangle)). |
95 It does not mean that the object is defined | |
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 |
211 | 106 def getId(self): |
107 return self.num | |
108 | |
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109 def getFirstInstant(self): |
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110 return self.timeInterval.first |
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111 |
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112 def getLastInstant(self): |
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113 return self.timeInterval.last |
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114 |
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115 def getTimeInterval(self): |
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116 return self.timeInterval |
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117 |
108
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118 def existsAtInstant(self, t): |
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119 return self.timeInterval.contains(t) |
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120 |
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121 def commonTimeInterval(self, obj2): |
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122 return self.getTimeInterval().intersection(obj2.getTimeInterval()) |
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123 |
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124 class Point: |
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125 def __init__(self, x, y): |
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126 self.x = x |
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127 self.y = y |
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128 |
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129 def __str__(self): |
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130 return '(%f,%f)'%(self.x,self.y) |
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131 |
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132 def __repr__(self): |
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133 return self.__str__() |
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134 |
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135 def __add__(self, other): |
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136 return Point(self.x+other.x, self.y+other.y) |
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137 |
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138 def __sub__(self, other): |
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139 return Point(self.x-other.x, self.y-other.y) |
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140 |
105
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141 def multiply(self, alpha): |
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142 return Point(self.x*alpha, self.y*alpha) |
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143 |
211 | 144 def draw(self, options = 'o', **kwargs): |
41 | 145 from matplotlib.pylab import plot |
211 | 146 plot([self.x], [self.y], options, **kwargs) |
41 | 147 |
38
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148 def norm2Squared(self): |
43
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149 '''2-norm distance (Euclidean distance)''' |
38
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150 return self.x*self.x+self.y*self.y |
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151 |
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152 def norm2(self): |
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153 '2-norm distance (Euclidean distance)' |
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154 return sqrt(self.norm2Squared()) |
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155 |
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156 def aslist(self): |
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157 return [self.x, self.y] |
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158 |
203
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159 def astuple(self): |
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160 return (self.x, self.y) |
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161 |
223
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162 def asint(self): |
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163 return Point(int(self.x), int(self.y)) |
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164 |
98
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165 def project(self, homography): |
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166 from numpy.core.multiarray import array |
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167 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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168 return Point(projected[0], projected[1]) |
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169 |
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170 def inPolygon(self, poly): |
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171 '''Returns if the point x, y is inside the polygon. |
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172 The polygon is defined by the ordered list of points in poly |
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173 |
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174 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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175 |
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176 Use points_inside_poly from matplotlib.nxutils''' |
79
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177 |
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178 n = len(poly); |
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179 counter = 0; |
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180 |
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181 p1 = poly[0]; |
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182 for i in range(n+1): |
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183 p2 = poly[i % n]; |
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184 if self.y > min(p1.y,p2.y): |
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185 if self.y <= max(p1.y,p2.y): |
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186 if self.x <= max(p1.x,p2.x): |
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187 if p1.y != p2.y: |
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188 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x; |
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189 if p1.x == p2.x or self.x <= xinters: |
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190 counter+=1; |
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191 p1=p2 |
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192 return (counter%2 == 1); |
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193 |
49 | 194 @staticmethod |
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195 def dot(p1, p2): |
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196 'Scalar product' |
67
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197 return p1.x*p2.x+p1.y*p2.y |
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198 |
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199 @staticmethod |
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200 def cross(p1, p2): |
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201 'Cross product' |
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202 return p1.x*p2.y-p1.y*p2.x |
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203 |
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204 @staticmethod |
38
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205 def distanceNorm2(p1, p2): |
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206 return (p1-p2).norm2() |
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207 |
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208 @staticmethod |
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209 def plotAll(points, color='r'): |
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210 from matplotlib.pyplot import scatter |
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211 scatter([p.x for p in points],[p.y for p in points], c=color) |
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212 |
245
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213 |
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214 def predictPosition(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
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215 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
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216 return initalPosition+velocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2) |
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217 |
244
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218 |
184
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219 class FlowVector: |
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220 '''Class to represent 4-D flow vectors, |
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221 ie a position and a velocity''' |
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222 def __init__(self, position, velocity): |
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223 'position and velocity should be Point instances' |
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224 self.position = position |
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225 self.velocity = velocity |
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226 |
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227 def __add__(self, other): |
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228 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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229 |
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230 def multiply(self, alpha): |
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231 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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232 |
211 | 233 def draw(self, options = '', **kwargs): |
184
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234 from matplotlib.pylab import plot |
211 | 235 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
236 self.position.draw(options+'x', **kwargs) | |
184
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237 |
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238 @staticmethod |
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239 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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240 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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241 |
152
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242 def segmentIntersection(p1, p2, p3, p4): |
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243 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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244 from numpy import matrix |
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245 from numpy.linalg import linalg, det |
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246 |
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247 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]] |
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248 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]] |
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249 |
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250 A = matrix([[dp1.y, -dp1.x], |
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251 [dp2.y, -dp2.x]]) |
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252 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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253 [dp2.y*p3.x-dp2.x*p3.y]]) |
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254 |
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255 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0: |
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256 return None |
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257 else: |
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258 intersection = linalg.solve(A,B) |
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259 if (utils.inBetween(p1.x, p2.x, intersection[0,0]) |
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260 and utils.inBetween(p3.x, p4.x, intersection[0,0]) |
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261 and utils.inBetween(p1.y, p2.y, intersection[1,0]) |
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262 and utils.inBetween(p3.y, p4.y, intersection[1,0])): |
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263 return Point(intersection[0,0], intersection[1,0]) |
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264 else: |
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265 return None |
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266 |
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267 class Trajectory: |
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268 '''Class for trajectories |
22 | 269 i.e. a temporal sequence of positions |
270 | |
271 the class is iterable.''' | |
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272 |
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273 def __init__(self, positions=None): |
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274 if positions != None: |
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275 self.positions = positions |
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276 else: |
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277 self.positions = [[],[]] |
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278 |
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279 @staticmethod |
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280 def load(line1, line2): |
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281 return Trajectory([[float(n) for n in line1.split(' ')], |
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282 [float(n) for n in line2.split(' ')]]) |
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283 |
16 | 284 def __str__(self): |
39 | 285 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 286 |
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287 def __repr__(self): |
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288 return str(self) |
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289 |
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290 def __getitem__(self, i): |
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291 return Point(self.positions[0][i], self.positions[1][i]) |
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292 |
22 | 293 def __iter__(self): |
294 self.iterInstantNum = 0 | |
295 return self | |
296 | |
297 def next(self): | |
298 if self.iterInstantNum >= self.length(): | |
299 raise StopIteration | |
300 else: | |
301 self.iterInstantNum += 1 | |
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302 return self[self.iterInstantNum-1] |
22 | 303 |
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304 def length(self): |
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305 return len(self.positions[0]) |
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306 |
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307 def addPositionXY(self, x, y): |
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308 self.positions[0].append(x) |
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309 self.positions[1].append(y) |
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310 |
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311 def addPosition(self, p): |
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312 self.addPositionXY(p.x, p.y) |
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313 |
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314 @staticmethod |
211 | 315 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, **kwargs): |
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316 from matplotlib.pylab import plot |
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317 if lastCoordinate == None: |
211 | 318 plot(positions[0], positions[1], options, **kwargs) |
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319 elif 0 <= lastCoordinate <= len(positions[0]): |
211 | 320 plot(positions[0][:lastCoordinate], positions[1][:lastCoordinate], options, **kwargs) |
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321 if withOrigin: |
211 | 322 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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323 |
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324 def project(self, homography): |
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325 from numpy.core.multiarray import array |
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326 projected = cvutils.projectArray(homography, array(self.positions)) |
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327 return Trajectory(projected) |
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328 |
211 | 329 def draw(self, options = '', withOrigin = False, **kwargs): |
330 Trajectory._draw(self.positions, options, withOrigin,**kwargs) | |
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331 |
211 | 332 def drawAt(self, lastCoordinate, options = '', withOrigin = False, **kwargs): |
333 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, **kwargs) | |
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334 |
211 | 335 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, **kwargs): |
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336 from matplotlib.pylab import plot |
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337 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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338 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
211 | 339 Trajectory._draw(imgPositions, options, withOrigin, **kwargs) |
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340 |
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341 def getXCoordinates(self): |
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342 return self.positions[0] |
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343 |
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344 def getYCoordinates(self): |
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345 return self.positions[1] |
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346 |
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347 def asArray(self): |
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348 from numpy.core.multiarray import array |
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349 return array(self.positions) |
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350 |
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351 def xBounds(self): |
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352 # look for function that does min and max in one pass |
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353 return [min(self.getXCoordinates()), max(self.getXCoordinates())] |
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354 |
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355 def yBounds(self): |
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356 # look for function that does min and max in one pass |
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357 return [min(self.getYCoordinates()), max(self.getYCoordinates())] |
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358 |
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359 def add(self, traj2): |
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360 '''Returns a new trajectory of the same length''' |
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361 if self.length() != traj2.length(): |
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362 print 'Trajectories of different lengths' |
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363 return None |
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364 else: |
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365 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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366 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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367 |
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368 def subtract(self, traj2): |
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369 '''Returns a new trajectory of the same length''' |
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370 if self.length() != traj2.length(): |
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371 print 'Trajectories of different lengths' |
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372 return None |
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373 else: |
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374 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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375 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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376 |
16 | 377 def norm(self): |
378 '''Returns the list of the norms at each instant''' | |
379 # def add(x, y): return x+y | |
380 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
381 # return sqrt(sq) | |
382 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])] | |
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383 |
49 | 384 def cumulatedDisplacement(self): |
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385 'Returns the sum of the distances between each successive point' |
49 | 386 displacement = 0 |
387 for i in xrange(self.length()-1): | |
388 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
389 return displacement | |
390 | |
391 def wiggliness(self): | |
392 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
393 | |
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394 def getIntersections(self, p1, p2): |
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395 '''Returns a list of the indices at which the trajectory |
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396 intersects with the segment of extremities p1 and p2 |
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397 the list is empty if there is no crossing''' |
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398 indices = [] |
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399 |
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400 for i in xrange(self.length()-1): |
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401 q1=self.__getitem__(i) |
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402 q2=self.__getitem__(i+1) |
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403 p = utils.segmentIntersection(q1, q2, p1, p2) |
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404 if p: |
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405 if q1.x != q2.x: |
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406 ratio = (p.x-q1.x)/(q2.x-q1.x) |
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407 elif q1.y != q2.y: |
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408 ratio = (p.y-q1.y)/(q2.y-q1.y) |
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409 else: |
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410 ratio = 0 |
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411 indices.append(i+ratio) |
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412 return indices |
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413 |
43
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414 def getTrajectoryInInterval(self, inter): |
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415 if inter.first >=0 and inter.last<= self.length(): |
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416 return Trajectory([self.positions[0][inter.first:inter.last], |
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417 self.positions[1][inter.first:inter.last]]) |
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418 else: |
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419 return None |
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420 |
92
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421 def getTrajectoryInPolygon(self, polygon): |
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422 '''Returns the set of points inside the polygon |
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423 (array of Nx2 coordinates of the polygon vertices)''' |
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424 import matplotlib.nxutils as nx |
113
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425 traj = Trajectory() |
92
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426 result = nx.points_inside_poly(self.asArray().T, polygon) |
79
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427 for i in xrange(self.length()): |
92
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428 if result[i]: |
113
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429 traj.addPositionXY(self.positions[0][i], self.positions[1][i]) |
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430 return traj |
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431 |
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432 # version 2: use shapely polygon contains |
19 | 433 |
62
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434 ################## |
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435 # Moving Objects |
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436 ################## |
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437 |
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438 userTypeNames = ['car', |
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439 'pedestrian', |
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440 'twowheels', |
185
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441 'bus', |
62
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442 'truck'] |
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443 |
185
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444 userType2Num = utils.inverseEnumeration(userTypeNames) |
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445 |
7
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446 class MovingObject(STObject): |
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447 '''Class for moving objects |
54
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448 i.e. with a trajectory and a geometry (volume) (constant) |
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449 and a usertype (e.g. road user) |
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450 ''' |
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451 |
54
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452 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None): |
7
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453 STObject.__init__(self, num, timeInterval) |
16 | 454 self.positions = positions |
7
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455 self.geometry = geometry |
54
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456 self.userType = userType |
7
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457 # compute bounding polygon from trajectory |
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458 |
43
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459 def getObjectInTimeInterval(self, inter): |
54
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460 '''Returns a new object extracted from self, |
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461 restricted to time interval inter''' |
97
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462 intersection = inter.intersection(self.getTimeInterval()) |
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463 if not intersection.empty(): |
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464 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
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465 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
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466 if self.velocities: |
97
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467 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
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468 return obj |
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469 else: |
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470 print 'The object does not exist at '+str(inter) |
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471 return None |
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472 |
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473 def length(self): |
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474 return self.timeInterval.length() |
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|
475 |
38
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476 def getPositions(self): |
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477 return self.positions |
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478 |
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479 def getVelocities(self): |
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480 return self.velocities |
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481 |
49 | 482 def getSpeeds(self): |
483 return self.getVelocities().norm() | |
484 | |
38
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485 def getPositionAt(self, i): |
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486 return self.positions[i] |
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|
487 |
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488 def getVelocityAt(self, i): |
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489 return self.velocities[i] |
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490 |
67
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491 def getPositionAtInstant(self, i): |
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492 return self.positions[i-self.getFirstInstant()] |
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493 |
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494 def getVelocityAtInstant(self, i): |
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495 return self.velocities[i-self.getFirstInstant()] |
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496 |
21
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|
497 def getXCoordinates(self): |
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498 return self.positions.getXCoordinates() |
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|
499 |
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500 def getYCoordinates(self): |
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501 return self.positions.getYCoordinates() |
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502 |
211 | 503 def draw(self, options = '', withOrigin = False, **kwargs): |
504 self.positions.draw(options, withOrigin, **kwargs) | |
182
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505 |
214
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diff
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|
506 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, **kwargs): |
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507 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, **kwargs) |
22 | 508 |
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509 def getInstantsCrossingLane(self, p1, p2): |
55
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510 '''Returns the instant(s) |
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511 at which the object passes from one side of the segment to the other |
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512 empty list if there is no crossing''' |
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513 indices = self.positions.getIntersections(p1, p2) |
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514 return [t+self.getFirstInstant() for t in indices] |
27
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diff
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|
515 |
244
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516 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
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517 '''Predicts the position of object at instant+deltaT, |
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518 at constant speed''' |
245
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diff
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519 return predictPosition(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
243
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520 |
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|
521 @staticmethod |
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522 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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523 'A positive result indicates that the road users are getting closer' |
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524 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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525 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
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526 return Point.dot(deltap, deltav) |
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527 |
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528 @staticmethod |
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529 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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530 'A positive result indicates that the road users are getting closer' |
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531 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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532 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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533 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2()) |
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534 |
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535 def plotRoadUsers(objects, colors): |
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536 '''Colors is a PlottingPropertyValues instance''' |
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537 from matplotlib.pyplot import figure, axis |
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538 figure() |
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539 for obj in objects: |
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540 obj.draw(colors.get(obj.userType)) |
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541 axis('equal') |
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542 |
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543 |
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544 if __name__ == "__main__": |
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545 import doctest |
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546 import unittest |
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methods for trajectories and objects
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547 suite = doctest.DocFileSuite('tests/moving.txt') |
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548 #suite = doctest.DocTestSuite() |
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549 unittest.TextTestRunner().run(suite) |
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550 #doctest.testmod() |
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551 #doctest.testfile("example.txt") |
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552 |