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adding ability to deal with multivariate indicators
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 10 Aug 2015 01:06:59 -0400
parents 43ae3a1af290
children 15ddc8715236
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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, cvutils
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5 from base import VideoFilenameAddable
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6
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7 from math import sqrt, atan2, cos, sin
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8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32
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9 from matplotlib.pyplot import plot
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10 from scipy.stats import scoreatpercentile
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11 from scipy.spatial.distance import cdist
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12
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13 try:
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14 from shapely.geometry import Polygon, Point as shapelyPoint
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15 from shapely.prepared import prep
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16 shapelyAvailable = True
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17 except ImportError:
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18 print('Shapely library could not be loaded')
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19 shapelyAvailable = False
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22 class Interval(object):
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23 '''Generic interval: a subset of real numbers (not iterable)'''
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24 def __init__(self, first=0, last=-1, revert = False):
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25 if revert and last<first:
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26 self.first=last
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27 self.last=first
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28 else:
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29 self.first=first
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30 self.last=last
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32 def __str__(self):
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33 return '[{0}, {1}]'.format(self.first, self.last)
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34
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35 def __repr__(self):
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36 return self.__str__()
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38 def empty(self):
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39 return self.first > self.last
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41 def center(self):
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42 return (self.first+self.last)/2.
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43
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44 def length(self):
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45 '''Returns the length of the interval'''
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46 return float(max(0,self.last-self.first))
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47
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48 def equal(self, i2):
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49 return self.first==i2.first and self.last == i2.last
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51 def getList(self):
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52 return [self.first, self.last]
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53
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54 def contains(self, instant):
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55 return (self.first<=instant and self.last>=instant)
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57 def inside(self, interval2):
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58 '''Indicates if the temporal interval of self is comprised in interval2'''
2
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59 return (self.first >= interval2.first) and (self.last <= interval2.last)
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61 @classmethod
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62 def union(cls, interval1, interval2):
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63 '''Smallest interval comprising self and interval2'''
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64 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last))
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66 @classmethod
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67 def intersection(cls, interval1, interval2):
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68 '''Largest interval comprised in both self and interval2'''
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69 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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70
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71 def distance(self, interval2):
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72 if not Interval.intersection(self, interval2).empty():
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73 return 0
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74 elif self.first > interval2.last:
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75 return self.first - interval2.last
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76 elif self.last < interval2.first:
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77 return interval2.first - self.last
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78 else:
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79 return None
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80
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81 @classmethod
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82 def unionIntervals(cls, intervals):
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83 'returns the smallest interval containing all intervals'
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84 inter = cls(intervals[0].first, intervals[0].last)
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85 for i in intervals[1:]:
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86 inter = cls.union(inter, i)
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87 return inter
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88
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89
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90 class TimeInterval(Interval):
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91 '''Temporal interval: set of instants at fixed time step, between first and last, included
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92
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93 For example: based on frame numbers (hence the modified length method)
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94 It may be modified directly by setting first and last'''
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95
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96 def __init__(self, first=0, last=-1):
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97 super(TimeInterval, self).__init__(first, last, False)
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98
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99 @staticmethod
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100 def fromInterval(inter):
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101 return TimeInterval(inter.first, inter.last)
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102
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103 def __getitem__(self, i):
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104 if not self.empty():
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105 if isinstance(i, int):
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106 return self.first+i
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107 else:
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108 raise TypeError, "Invalid argument type."
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109 #elif isinstance( key, slice ):
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110
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111 def __iter__(self):
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112 self.iterInstantNum = -1
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113 return self
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114
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115 def next(self):
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116 if self.iterInstantNum >= self.length()-1:
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117 raise StopIteration
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118 else:
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119 self.iterInstantNum += 1
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120 return self[self.iterInstantNum]
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121
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122 def length(self):
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123 '''Returns the length of the interval'''
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124 return float(max(0,self.last-self.first+1))
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125
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126 def __len__(self):
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127 return self.length()
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128
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129 # class BoundingPolygon:
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130 # '''Class for a polygon bounding a set of points
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131 # with methods to create intersection, unions...
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132 # '''
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133 # We will use the polygon class of Shapely
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134
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135 class STObject(object):
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136 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
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137 (time interval and bounding polygon for positions (e.g. rectangle)).
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138
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139 It may not mean that the object is defined
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140 for all time instants within the time interval'''
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141
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142 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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143 self.num = num
2
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144 self.timeInterval = timeInterval
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145 self.boundingPolygon = boundingPolygon
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146
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147 def empty(self):
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148 return self.timeInterval.empty()# or not self.boudingPolygon
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149
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
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150 def getNum(self):
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151 return self.num
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152
688
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153 def __len__(self):
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154 return self.timeInterval.length()
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155
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156 def length(self):
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157 return self.timeInterval.length()
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158
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159 def getFirstInstant(self):
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160 return self.timeInterval.first
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161
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162 def getLastInstant(self):
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163 return self.timeInterval.last
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164
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165 def getTimeInterval(self):
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166 return self.timeInterval
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167
108
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168 def existsAtInstant(self, t):
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169 return self.timeInterval.contains(t)
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170
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171 def commonTimeInterval(self, obj2):
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172 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
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173
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174 class Point(object):
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175 def __init__(self, x, y):
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176 self.x = x
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177 self.y = y
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178
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179 def __str__(self):
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180 return '({:f},{:f})'.format(self.x,self.y)
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181
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182 def __repr__(self):
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183 return self.__str__()
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184
184
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185 def __add__(self, other):
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186 return Point(self.x+other.x, self.y+other.y)
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187
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188 def __sub__(self, other):
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189 return Point(self.x-other.x, self.y-other.y)
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190
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191 def __neg__(self):
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192 return Point(-self.x, -self.y)
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193
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194 def __getitem__(self, i):
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195 if i == 0:
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196 return self.x
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197 elif i == 1:
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198 return self.y
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199 else:
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200 raise IndexError()
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201
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202 def orthogonal(self, clockwise = True):
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203 'Returns the orthogonal vector'
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204 if clockwise:
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205 return Point(self.y, -self.x)
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206 else:
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207 return Point(-self.y, self.x)
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208
105
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209 def multiply(self, alpha):
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210 'Warning, returns a new Point'
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211 return Point(self.x*alpha, self.y*alpha)
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212
623
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213 def divide(self, alpha):
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214 'Warning, returns a new Point'
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diff changeset
215 return Point(self.x/alpha, self.y/alpha)
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diff changeset
216
515
727e3c529519 renamed all draw functions to plot for consistency
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diff changeset
217 def plot(self, options = 'o', **kwargs):
211
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parents: 203
diff changeset
218 plot([self.x], [self.y], options, **kwargs)
41
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219
38
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diff changeset
220 def norm2Squared(self):
43
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diff changeset
221 '''2-norm distance (Euclidean distance)'''
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diff changeset
222 return self.x**2+self.y**2
38
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223
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diff changeset
224 def norm2(self):
288
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diff changeset
225 '''2-norm distance (Euclidean distance)'''
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diff changeset
226 return sqrt(self.norm2Squared())
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227
284
f2cf16ad798f added LCSS for trajectories
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diff changeset
228 def norm1(self):
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diff changeset
229 return abs(self.x)+abs(self.y)
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diff changeset
230
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diff changeset
231 def normMax(self):
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diff changeset
232 return max(abs(self.x),abs(self.y))
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233
64
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diff changeset
234 def aslist(self):
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diff changeset
235 return [self.x, self.y]
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236
203
e2f31813ade6 added code to display trajectories on videa
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parents: 185
diff changeset
237 def astuple(self):
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parents: 185
diff changeset
238 return (self.x, self.y)
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parents: 185
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239
223
c31722fcc9de minor modifications for integer drawing in OpenCV
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parents: 214
diff changeset
240 def asint(self):
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parents: 214
diff changeset
241 return Point(int(self.x), int(self.y))
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parents: 214
diff changeset
242
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
243 if shapelyAvailable:
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diff changeset
244 def asShapely(self):
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diff changeset
245 return shapelyPoint(self.x, self.y)
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diff changeset
246
98
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diff changeset
247 def project(self, homography):
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diff changeset
248 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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diff changeset
249 return Point(projected[0], projected[1])
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diff changeset
250
627
82e9f78a4714 added test for location for trajectories
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diff changeset
251 def inPolygon(self, polygon):
372
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diff changeset
252 '''Indicates if the point x, y is inside the polygon
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diff changeset
253 (array of Nx2 coordinates of the polygon vertices)
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parents: 369
diff changeset
254
92
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parents: 91
diff changeset
255 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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parents: 91
diff changeset
256
372
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diff changeset
257 Use Polygon.contains if Shapely is installed'''
79
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diff changeset
258
372
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diff changeset
259 n = polygon.shape[0];
79
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parents: 74
diff changeset
260 counter = 0;
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diff changeset
261
372
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diff changeset
262 p1 = polygon[0,:];
79
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parents: 74
diff changeset
263 for i in range(n+1):
372
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parents: 369
diff changeset
264 p2 = polygon[i % n,:];
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parents: 369
diff changeset
265 if self.y > min(p1[1],p2[1]):
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parents: 369
diff changeset
266 if self.y <= max(p1[1],p2[1]):
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parents: 369
diff changeset
267 if self.x <= max(p1[0],p2[0]):
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parents: 369
diff changeset
268 if p1[1] != p2[1]:
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parents: 369
diff changeset
269 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
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parents: 369
diff changeset
270 if p1[0] == p2[0] or self.x <= xinters:
79
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parents: 74
diff changeset
271 counter+=1;
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diff changeset
272 p1=p2
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diff changeset
273 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
274
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
275 @staticmethod
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
276 def fromList(p):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
277 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
278
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
279 @staticmethod
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
280 def dot(p1, p2):
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
281 'Scalar product'
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
282 return p1.x*p2.x+p1.y*p2.y
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
283
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
284 @staticmethod
90
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
285 def cross(p1, p2):
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
286 'Cross product'
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
287 return p1.x*p2.y-p1.y*p2.x
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
288
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
289 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
290 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
291 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
292
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
293 @staticmethod
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
294 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
295 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
296
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
297 @staticmethod
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
298 def plotAll(points, **kwargs):
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
299 from matplotlib.pyplot import scatter
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
300 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
301
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
302 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
303 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
304 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
305
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
306 @staticmethod
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
307 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
308 '''Computes exact time to collision with a distance threshold
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
309 The unknown of the equation is the time to reach the intersection
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
310 between the relative trajectory of one road user
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
311 and the circle of radius collisionThreshold around the other road user'''
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
312 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
313 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
314 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2
516
bce1fe45d1b2 corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
315 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
316 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
317
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
318 delta = b**2 - 4*a*c
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
319 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
320 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
321 ttc1 = (-b + deltaRoot)/(2*a)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
322 ttc2 = (-b - deltaRoot)/(2*a)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
323 if ttc1 >= 0 and ttc2 >= 0:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
324 ttc = min(ttc1,ttc2)
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
325 elif ttc1 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
326 ttc = ttc1
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
327 elif ttc2 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
328 ttc = ttc2
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
329 else: # ttc1 < 0 and ttc2 < 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
330 ttc = None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
331 else:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
332 ttc = None
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
333 return ttc
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
334
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
335 @staticmethod
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
336 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
337 'Returns the middle of the segment [p1, p2]'
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
338 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
339
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
340 if shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
341 def pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
342 '''Optimized tests of a series of points within (Shapely) polygon '''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
343 prepared_polygon = prep(polygon)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
344 return filter(prepared_polygon.contains, points)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
345
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
346 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
347 # From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
348 def subsec_spline_dist(splines):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
349 ''' Prepare list of spline subsegments from a spline list.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
350
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
351 Output:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
352 =======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
353 ss_spline_d[spline #][mode][station]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
354
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
355 where:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
356 mode=0: incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
357 mode=1: cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
358 mode=2: cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
359 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
360 ss_spline_d = []
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
361 #Prepare subsegment distances
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
362 for spline in range(len(splines)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
363 ss_spline_d.append([[],[],[]])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
364 ss_spline_d[spline][0] = zeros(len(splines[spline])-1) #Incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
365 ss_spline_d[spline][1] = zeros(len(splines[spline])-1) #Cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
366 ss_spline_d[spline][2] = zeros(len(splines[spline])) #Cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
367 for spline_p in range(len(splines[spline])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
368 if spline_p > (len(splines[spline]) - 2):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
369 break
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
370 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
371 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p])
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
372 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
373
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
374 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
375
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
376 return ss_spline_d
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
377
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
378 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
379 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
380 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
381 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
382 if(p0x == p1x and p0y == p1y):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
383 return None
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
384 try:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
385 #Approximate slope singularity by giving some slope roundoff; account for roundoff error
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
386 if(round(p0x, 10) == round(p1x, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
387 p1x += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
388 if(round(p0y, 10) == round(p1y, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
389 p1y += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
390 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
391 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
392 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
393 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
394 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
395 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
396 import pdb; pdb.set_trace()
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
397 return Point(X,Y)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
398
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
399 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
400 ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines). A spline is a list of points (class Point), most likely a trajectory.
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
401
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
402 Output:
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
403 =======
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
404 [spline index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
405 subsegment leading point index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
406 snapped point,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
407 subsegment distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
408 spline distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
409 orthogonal point offset]
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
410
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
411 or None
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
412 '''
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
413 minOffsetY = float('inf')
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
414 #For each spline
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
415 for spline in range(len(splines)):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
416 #For each spline point index
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
417 for spline_p in range(len(splines[spline])-1):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
418 #Get closest point on spline
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
419 closestPoint = ppldb2p(p.x,p.y,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1])
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
420 if closestPoint is None:
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
421 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p))
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
422 return None
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
423 # check if the
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
424 if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], closestPoint.y):
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
425 offsetY = Point.distanceNorm2(closestPoint, p)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
426 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
427 minOffsetY = offsetY
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
428 snappedSpline = spline
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
429 snappedSplineLeadingPoint = spline_p
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
430 snappedPoint = Point(closestPoint.x, closestPoint.y)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
431 #Jump loop if significantly close
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
432 if offsetY < goodEnoughSplineDistance:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
433 break
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
434 #Get sub-segment distance
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
435 if minOffsetY != float('inf'):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
436 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSpline][snappedSplineLeadingPoint])
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
437 #Get cumulative alignment distance (total segment distance)
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
438 splineDistanceS = splines[snappedSpline].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
439 orthogonalSplineVector = (splines[snappedSpline][snappedSplineLeadingPoint+1]-splines[snappedSpline][snappedSplineLeadingPoint]).orthogonal()
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
440 offsetVector = p-snappedPoint
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
441 if Point.dot(orthogonalSplineVector, offsetVector) < 0:
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
442 minOffsetY = -minOffsetY
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
443 return [snappedSpline, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY]
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
444 else:
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
445 return None
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
446
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
447 def getXYfromSY(s, y, splineNum, splines, mode = 0):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
448 ''' Find X,Y coordinate from S,Y data.
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
449 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
450 if mode !=0 : return Real X,Y
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
451 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
452
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
453 #(buckle in, it gets ugly from here on out)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
454 ss_spline_d = subsec_spline_dist(splines)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
455
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
456 #Find subsegment
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
457 snapped_x = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
458 snapped_y = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
459 for spline_ss_index in range(len(ss_spline_d[splineNum][1])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
460 if(s < ss_spline_d[splineNum][1][spline_ss_index]):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
461 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
462 #Get normal vector and then snap
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
463 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
464 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
465 magnitude = sqrt(vector_l_x**2 + vector_l_y**2)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
466 n_vector_x = vector_l_x/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
467 n_vector_y = vector_l_y/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
468 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
469 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
470
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
471 #Real values (including orthogonal projection of y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
472 real_x = snapped_x - y*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
473 real_y = snapped_y + y*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
474 break
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
475
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
476 if mode == 0 or (not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
477 if(not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
478 snapped_x = splines[splineNum][-1][0]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
479 snapped_y = splines[splineNum][-1][1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
480 return [snapped_x,snapped_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
481 else:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
482 return [real_x,real_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
483
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
484
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
485 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
486 '''Alternate encoding of a point, by its norm and orientation'''
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
487
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
488 def __init__(self, norm, angle):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
489 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
490 self.angle = angle
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
491
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
492 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
493 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
494 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
495 if norm > 0:
259
8ab76b95ee72 added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 258
diff changeset
496 angle = atan2(p.y, p.x)
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
497 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
498 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
499 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
500
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
501 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
502 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
503 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
504
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
505 def getPoint(self):
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
506 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
507
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
508
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
509 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
510 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
511 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
512
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
513 def predictPosition(position, speedOrientation, control, maxSpeed = None):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
514 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
515 speedOrientation is the other encoding of velocity, (speed, orientation)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
516 speedOrientation and control are NormAngle'''
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
517 predictedSpeedTheta = speedOrientation+control
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
518 if maxSpeed:
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
519 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
520 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
521 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
522
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
523
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
524 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
525 '''Class to represent 4-D flow vectors,
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
526 ie a position and a velocity'''
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
527 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
528 'position and velocity should be Point instances'
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
529 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
530 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
531
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
532 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
533 return FlowVector(self.position+other.position, self.velocity+other.velocity)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
534
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
535 def multiply(self, alpha):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
536 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
537
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
538 def plot(self, options = '', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
539 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
540 self.position.plot(options+'x', **kwargs)
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
541
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
542 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
543 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
544 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
545
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
546 def intersection(p1, p2, p3, p4):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
547 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
548 http://paulbourke.net/geometry/pointlineplane/'''
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
549 dp12 = p2-p1
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
550 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
551 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y)
674
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
552 det = float(dp34.y*dp12.x-dp34.x*dp12.y)
01b89182891a corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 672
diff changeset
553 if det == 0.:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
554 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
555 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
556 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
557 return p1+dp12.multiply(ua)
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
558
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
559 # def intersection(p1, p2, dp1, dp2):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
560 # '''Returns the intersection point between the two lines
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
561 # defined by the respective vectors (dp) and origin points (p)'''
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
562 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
563 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
564 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
565 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
566 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
567 # [dp2.y*p2.x-dp2.x*p2.y]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
568
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
569 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
570 # return None
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
571 # else:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
572 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
573 # return Point(intersection[0,0], intersection[1,0])
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
574
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
575 def segmentIntersection(p1, p2, p3, p4):
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
576 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
577
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
578 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()):
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
579 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
580 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
581 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
582 if (inter is not None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
583 and utils.inBetween(p1.x, p2.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
584 and utils.inBetween(p3.x, p4.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
585 and utils.inBetween(p1.y, p2.y, inter.y)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
586 and utils.inBetween(p3.y, p4.y, inter.y)):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
587 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
588 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
589 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
590
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
591 def segmentLineIntersection(p1, p2, p3, p4):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
592 '''Indicates if the line going through p1 and p2 intersects inside p3, p4'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
593 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
594 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
595 return inter
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
596 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
597 return None
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
598
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
599
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
600 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
601 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
602
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
603 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
604
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
605 def __init__(self, positions=None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
606 if positions is not None:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
607 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
608 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
609 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
610
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
611 @staticmethod
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
612 def generate(p, v, nPoints):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
613 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
614 p0 = Point(p.x, p.y)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
615 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
616 for i in xrange(nPoints-1):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
617 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
618 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
619 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints])
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
620
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
621 @staticmethod
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
622 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
623 return Trajectory([[float(n) for n in line1.split(' ')],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
624 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
625
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
626 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
627 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
628 t = Trajectory()
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
629 if isinstance(points[0], list) or isinstance(points[0], tuple):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
630 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
631 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
632 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
633 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
634 t.addPosition(p)
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
635 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
636
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
637 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
638 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
639
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
640 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
641 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
642
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
643 def empty(self):
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
644 return self.__len__() == 0
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
645
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
646 def __getitem__(self, i):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
647 if isinstance(i, int):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
648 return Point(self.positions[0][i], self.positions[1][i])
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
649 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
650 raise TypeError, "Invalid argument type."
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
651 #elif isinstance( key, slice ):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
652
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
653 def __str__(self):
39
e47168f6b694 corrected printing bug
Nicolas Saunier <nico@confins.net>
parents: 38
diff changeset
654 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
655
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
656 def __repr__(self):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
657 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
658
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
659
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
660 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
661 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
662 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
663
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
664 def next(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
665 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
666 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
667 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
668 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
669 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
670
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
671 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
672 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
673 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
674 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
675
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
676 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
677 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
678
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
679 def addPositionXY(self, x, y):
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
680 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
681 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
682
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
683 def addPosition(self, p):
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
684 self.addPositionXY(p.x, p.y)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
685
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
686 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
687 self.positions[0].append(self.positions[0][-1])
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
688 self.positions[1].append(self.positions[1][-1])
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
689
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
690 @staticmethod
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
691 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
692 if lastCoordinate is None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
693 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
694 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
695 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
696 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
697 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
698
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
699 def project(self, homography):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
700 return Trajectory(cvutils.projectTrajectory(homography, self.positions).tolist())
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
701
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
702 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
703 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
704
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
705 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
706 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
707
620
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
708 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
709 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
620
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
710 [x*nPixelsPerUnitDistance for x in self.positions[1]]]
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
711 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
712
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
713 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
714 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
715
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
716 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
717 return self.positions[1]
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
718
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
719 def asArray(self):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
720 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
721
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
722 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
723 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
724 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
725
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
726 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
727 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
728 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
729
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
730 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
731 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
732 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
733 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
734 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
735 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
736 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
737 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
738
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
739 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
740 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
741 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
742 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
743 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
744 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
745 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
746 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
747
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
748 def multiply(self, alpha):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
749 '''Returns a new trajectory of the same length'''
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
750 return Trajectory([[alpha*x for x in self.getXCoordinates()],
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
751 [alpha*y for y in self.getYCoordinates()]])
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
752
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
753 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
754 diff = Trajectory()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
755 for i in xrange(1, self.length()):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
756 diff.addPosition(self[i]-self[i-1])
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
757 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
758 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
759 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
760
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
761 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
762 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
763 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
764 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
765 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
766 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
767
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
768 # def cumulatedDisplacement(self):
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
769 # 'Returns the sum of the distances between each successive point'
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
770 # displacement = 0
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
771 # for i in xrange(self.length()-1):
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
772 # displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
773 # return displacement
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
774
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
775 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
776 '''Computes the distance from each point to the next and the cumulative distance up to the point
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
777 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
778 self.distances = []
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
779 self.cumulativeDistances = [0.]
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
780 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
781 cumulativeDistance = 0.
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
782 for i in xrange(self.length()-1):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
783 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
784 self.distances.append(Point.distanceNorm2(p1,p2))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
785 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
786 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
787 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
788
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
789 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
790 '''Return the distance between points i and i+1'''
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
791 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
792 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
793 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
794 print('Index {} beyond trajectory length {}-1'.format(i, self.length()))
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
795
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
796 def getCumulativeDistance(self, i):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
797 '''Return the cumulative distance between the beginning and point i'''
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
798 if i < self.length():
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
799 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
800 else:
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
801 print('Index {} beyond trajectory length {}'.format(i, self.length()))
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
802
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
803 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
804 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity)
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
805 have a cosine with refDirection is smaller than cosineThreshold'''
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
806 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
807 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
808 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
809 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
810 count += 1
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
811 return count >= lengthThreshold
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
812
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
813 def wiggliness(self):
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
814 return self.getCumulativeDistance(self.length()-1)/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
815
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
816 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
817 '''Returns a list of the indices at which the trajectory
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
818 intersects with the segment of extremities p1 and p2
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
819 the list is empty if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
820 indices = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
821 intersections = []
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
822
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
823 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
824 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
825 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
826 p = utils.segmentIntersection(q1, q2, p1, p2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
827 if p is not None:
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
828 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
829 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
830 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
831 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
832 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
833 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
834 indices.append(i+ratio)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
835 intersections.append(p)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
836 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
837
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
838 def getLineIntersections(self, p1, p2):
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
839 '''Returns a list of the indices at which the trajectory
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
840 intersects with the segment of extremities p1 and p2
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
841 the list is empty if there is no crossing'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
842 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
843 intersections = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
844
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
845 for i in xrange(self.length()-1):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
846 q1=self.__getitem__(i)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
847 q2=self.__getitem__(i+1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
848 p = utils.segmentLineIntersection(p1, p2, q1, q2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
849 if p is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
850 if q1.x != q2.x:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
851 ratio = (p.x-q1.x)/(q2.x-q1.x)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
852 elif q1.y != q2.y:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
853 ratio = (p.y-q1.y)/(q2.y-q1.y)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
854 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
855 ratio = 0
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
856 indices.append(i+ratio)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
857 intersections.append(p)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
858 return indices, intersections
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
859
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
860 def getTrajectoryInInterval(self, inter):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
861 'Returns all position between index inter.first and index.last (included)'
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
862 if inter.first >=0 and inter.last<= self.length():
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
863 return Trajectory([self.positions[0][inter.first:inter.last+1],
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
864 self.positions[1][inter.first:inter.last+1]])
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
865 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
866 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
867
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
868 if shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
869 def getTrajectoryInPolygon(self, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
870 '''Returns the trajectory built with the set of points inside the (shapely) polygon'''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
871 traj = Trajectory()
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
872 points = [p.asShapely() for p in self]
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
873 for p in pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
874 traj.addPositionXY(p.x, p.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
875 return traj
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
876
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
877 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
878 pointsIn = pointsInPolygon([p.asShapely() for p in self], polygon)
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
879 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
880 return len(pointsIn) >= lengthThreshold
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
881 else:
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
882 def getTrajectoryInPolygon(self, polygon):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
883 '''Returns the trajectory built with the set of points inside the polygon
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
884 (array of Nx2 coordinates of the polygon vertices)'''
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
885 traj = Trajectory()
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
886 for p in self:
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
887 if p.inPolygon(polygon):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
888 traj.addPosition(p)
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
889 return traj
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
890
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
891 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
892 pointsInPolygon = [p.inPolygon(polygon) for p in self]
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
893 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
894 return len(pointsInPolygon) >= lengthThreshold
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
895
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
896 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
897 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
898 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
899
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
900 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
901 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
902 longitudinal coordinate is stored as first coordinate (exterior name S)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
903 lateral coordiante is stored as second coordinate'''
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
904
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
905 def __init__(self, S = None, Y = None, lanes = None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
906 if S is None or Y is None or len(S) != len(Y):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
907 self.positions = [[],[]]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
908 if S is not None and Y is not None and len(S) != len(Y):
543
cb213269d330 defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
909 print("S and Y coordinates of different lengths\nInitializing to empty lists")
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
910 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
911 self.positions = [S,Y]
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
912 if lanes is None or len(lanes) != self.length():
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
913 self.lanes = []
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
914 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
915 self.lanes = lanes
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
916
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
917 def __getitem__(self,i):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
918 if isinstance(i, int):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
919 return [self.positions[0][i], self.positions[1][i], self.lanes[i]]
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
920 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
921 raise TypeError, "Invalid argument type."
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
922 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
923
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
924 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
925 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
926
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
927 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
928 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
929
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
930 def addPositionSYL(self, s, y, lane):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
931 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
932 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
933
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
934 def addPosition(self, p):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
935 'Adds position in the point format for curvilinear of list with 3 values'
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
936 self.addPositionSYL(p[0], p[1], p[2])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
937
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
938 def setPosition(self, i, s, y, lane):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
939 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
940 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
941 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
942
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
943 def differentiate(self, doubleLastPosition = False):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
944 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
945 p1 = self[0]
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
946 for i in xrange(1, self.length()):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
947 p2 = self[i]
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
948 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], p1[2])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
949 p1=p2
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
950 if doubleLastPosition and self.length() > 1:
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
951 diff.addPosition(diff[-1])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
952 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
953
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
954 def getIntersections(self, S1, lane = None):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
955 '''Returns a list of the indices at which the trajectory
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
956 goes past the curvilinear coordinate S1
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
957 (in provided lane if lane is not None)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
958 the list is empty if there is no crossing'''
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
959 indices = []
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
960 for i in xrange(self.length()-1):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
961 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
962 q2=self.__getitem__(i+1)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
963 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
964 indices.append(i+(S1-q1[0])/(q2[0]-q1[0]))
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
965 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
966
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
967 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
968 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
969 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
970
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
971 userTypeNames = ['unknown',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
972 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
973 'pedestrian',
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
974 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
975 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
976 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
977 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
978
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
979 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
980
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 663
diff changeset
981 class MovingObject(STObject, VideoFilenameAddable):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
982 '''Class for moving objects: a spatio-temporal object
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
983 with a trajectory and a geometry (constant volume over time)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
984 and a usertype (e.g. road user) coded as a number (see userTypeNames)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
985 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
986
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 383
diff changeset
987 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
988 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
989 self.positions = positions
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
990 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
991 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
992 self.userType = userType
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
993 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
994 # compute bounding polygon from trajectory
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
995
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
996 @staticmethod
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
997 def generate(p, v, timeInterval):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
998 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length()))
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
999 return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1000
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1001 @staticmethod
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1002 def concatenate(obj1, obj2, num = None):
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1003 '''Concatenates two objects supposed to overlap temporally '''
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1004 commonTimeInterval = obj1.commonTimeInterval(obj2)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1005 if commonTimeInterval.empty():
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1006 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval()))
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1007 return None
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1008 else:
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1009 if num is None:
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1010 newNum = obj1.getNum()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1011 else:
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1012 newNum = num
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1013 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1014 # positions
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1015 positions = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1016 for t in newTimeInterval:
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1017 nTotal = 0.
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1018 p = Point(0.,0.)
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1019 for obj in [obj1, obj2]:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1020 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1021 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1022 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)])
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1023 else:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1024 n = 1.
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1025 p += obj.getPositionAtInstant(t).multiply(n)
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1026 nTotal += n
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1027 assert nTotal>0, 'there should be at least one point for each instant'
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1028 positions.addPosition(p.divide(nTotal))
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1029 # velocities: if any
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1030 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'):
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1031 velocities = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1032 for t in newTimeInterval:
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1033 nTotal = 0.
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1034 p = Point(0.,0.)
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1035 for obj in [obj1, obj2]:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1036 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1037 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1038 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)])
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1039 else:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1040 n = 1.
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1041 p += obj.getVelocityAtInstant(t).multiply(n)
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1042 nTotal += n
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1043 assert n>0, 'there should be at least one point for each instant'
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1044 velocities.addPosition(p.divide(nTotal))
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1045 else:
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1046 velocities = None
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1047 # TODO object envelop (polygon)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1048 # user type
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1049 if obj1.getUserType() != obj2.getUserType():
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1050 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()]))
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1051
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1052 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType())
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1053 if obj1.hasFeatures() and obj2.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1054 newObject.features = obj1.getFeatures()+obj2.getFeatures()
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1055 return newObject
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1056
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1057 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1058 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1059 restricted to time interval inter'''
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
1060 intersection = TimeInterval.intersection(inter, self.getTimeInterval())
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1061 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1062 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
1063 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
1064 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1065 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1066 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1067 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1068 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
1069 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1070
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1071 def getObjectsInMask(self, mask, homography = None, minLength = 1):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1072 '''Returns new objects made of the positions in the mask
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1073 mask is in the destination of the homography space'''
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1074 if homography is not None:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1075 self.projectedPositions = self.positions.project(homography)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1076 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1077 self.projectedPositions = self.positions
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1078 def inMask(positions, i, mask):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1079 p = positions[i]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1080 return mask[p.y, p.x] != 0.
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1081
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1082 #subTimeIntervals self.getFirstInstant()+i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1083 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1084 # 'connected components' in subTimeIntervals
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1085 l = 0
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1086 intervalLabels = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1087 prev = True
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1088 for i in filteredIndices:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1089 if i:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1090 if not prev: # new interval
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1091 l += 1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1092 intervalLabels.append(l)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1093 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1094 intervalLabels.append(-1)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1095 prev = i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1096 intervalLabels = array(intervalLabels)
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1097 subObjects = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1098 for l in set(intervalLabels):
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1099 if l >= 0:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1100 if sum(intervalLabels == l) >= minLength:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1101 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l]
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1102 subTimeInterval = TimeInterval(min(times), max(times))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1103 subObjects.append(self.getObjectInTimeInterval(subTimeInterval))
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1104
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1105 return subObjects
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1106
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1107 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1108 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1109
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1110 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1111 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1112
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1113 def getUserType(self):
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1114 return self.userType
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1115
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1116 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1117 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1118 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1119 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1120 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1121
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1122 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1123 if hasattr(self, 'curvilinearPositions'):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1124 if lane is None:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1125 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1126 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1127 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1128 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1129 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1130 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1131 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions):
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1132 if p[2] == lane:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1133 instants.append(t)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1134 coords.append(p[0])
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1135 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1136 instants.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1137 coords.append(NaN)
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1138 plot(instants, coords, options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1139 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1140 plot([instants[0]], [coords[0]], 'ro', **kwargs)
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1141 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1142 print('Object {} has no curvilinear positions'.format(self.getNum()))
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1143
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1144 def setUserType(self, userType):
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1145 self.userType = userType
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1146
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1147 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1148 self.features = [features[i] for i in self.featureNumbers]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1149
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1150 def getFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1151 return self.features
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1152
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1153 def hasFeatures(self):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1154 return (self.features is not None)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1155
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1156 def getFeature(self, i):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1157 if self.hasFeatures() and i<len(self.features):
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1158 return self.features[i]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1159 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1160 return None
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1161
666
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1162 def getFeatureNumbers(self):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1163 '''Returns the number of features at each instant
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1164 dict instant -> number of features'''
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1165 if self.hasFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1166 featureNumbers = {}
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1167 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1168 n = 0
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1169 for f in self.getFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1170 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1171 n += 1
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1172 featureNumbers[t]=n
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1173 return featureNumbers
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1174 else:
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1175 print('Object {} has no features loaded.'.format(self.getNum()))
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1176 return None
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1177
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1178 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1179 speeds = self.getVelocities().norm()
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1180 if nInstantsIgnoredAtEnds > 0:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1181 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1182 return speeds[n:-n]
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1183 else:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1184 return speeds
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1185
633
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1186 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1187 from indicators import SeverityIndicator
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1188 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()})
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1189
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1190 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1191 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1192
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1193 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1194 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1195
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1196 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1197 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
1198
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1199 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1200 return self.velocities[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1201
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1202 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1203 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1204
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1205 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1206 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1207
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1208 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1209 if withFeatures and self.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1210 for f in self.getFeatures():
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1211 f.positions.plot('r', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1212 self.positions.plot('bx-', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1213 else:
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1214 self.positions.plot(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
1215
621
582508610572 merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619 620
diff changeset
1216 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
582508610572 merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619 620
diff changeset
1217 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
1218
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1219 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1220 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
1221
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1222 def speedDiagnostics(self, framerate = 1., display = False):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1223 speeds = framerate*self.getSpeeds()
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1224 coef = utils.linearRegression(range(len(speeds)), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1225 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0]))
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1226 if display:
672
5473b7460375 moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 666
diff changeset
1227 from matplotlib.pyplot import figure, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1228 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1229 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1230 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1231 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1232 plot(list(self.getTimeInterval()), speeds)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1233
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1234 @staticmethod
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1235 def minMaxDistance(obj1, obj2):
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1236 '''Computes the min max distance used for feature grouping'''
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1237 commonTimeInterval = obj1.commonTimeInterval(obj2)
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1238 if not commonTimeInterval.empty():
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1239 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1240 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1241 for t in list(commonTimeInterval)[1:]:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1242 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2()
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1243 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1244 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1245 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1246 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1247 return int(commonTimeInterval.length()), minDistance, maxDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1248 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1249 return int(commonTimeInterval.length()), None, None
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1250
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1251 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1252 def distances(obj1, obj2, instant1, _instant2 = None):
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1253 '''Returns the distances between all features of the 2 objects
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1254 at the same instant instant1
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1255 or at instant1 and instant2'''
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1256 if _instant2 is None:
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1257 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1258 else:
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1259 instant2 = _instant2
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1260 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1261 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1262 return cdist(positions1, positions2, metric = 'euclidean')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1263
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1264 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1265 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1266 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1267
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1268 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1269 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1270 return MovingObject.distances(obj1, obj2, instant1, instant2).max()
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1271
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1272 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1273 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1274 at instant there are the most features'''
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1275 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1276 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1277 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1278 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1279 n = len([f for f in self.features if f.existsAtInstant(t)])
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1280 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1281 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1282 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1283 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1284 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1285 print('Load features to compute a maximum size')
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1286 return None
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 596 616
diff changeset
1287
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1288 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1289 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1290 self.endRouteID = endRouteID
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1291
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1292 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
1293 '''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
1294 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
1295 empty list if there is no crossing'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1296 indices, intersections = self.positions.getIntersections(p1, p2)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1297 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
1298
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1299 @staticmethod
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1300 def computePET(obj1, obj2, collisionDistanceThreshold):
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1301 '''Post-encroachment time based on distance threshold
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1302
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1303 Returns the smallest time difference when the object positions are within collisionDistanceThreshold'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1304 #for i in xrange(int(obj1.length())-1):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1305 # for j in xrange(int(obj2.length())-1):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1306 # inter = segmentIntersection(obj1.getPositionAt(i), obj1.getPositionAt(i+1), obj2.getPositionAt(i), obj2.getPositionAt(i+1))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1307 positions1 = [p.astuple() for p in obj1.getPositions()]
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1308 positions2 = [p.astuple() for p in obj2.getPositions()]
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1309 pets = zeros((int(obj1.length()), int(obj2.length())))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1310 for i,t1 in enumerate(obj1.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1311 for j,t2 in enumerate(obj2.getTimeInterval()):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1312 pets[i,j] = abs(t1-t2)
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1313 distances = cdist(positions1, positions2, metric = 'euclidean')
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1314 if distances.min() <= collisionDistanceThreshold:
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1315 return pets[distances <= collisionDistanceThreshold].min()
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1316 else:
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1317 return None
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1318
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
1319 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1320 '''Predicts the position of object at instant+deltaT,
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1321 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
1322 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1323
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1324 def projectCurvilinear(self, alignments, ln_mv_av_win=3):
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1325 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()'
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1326 (curvilinearPositions instance) which holds information about the
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1327 curvilinear coordinates using alignment metadata.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1328 From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1329 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1330
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1331 Input:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1332 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1333 alignments = a list of alignments, where each alignment is a list of
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1334 points (class Point).
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1335 ln_mv_av_win = moving average window (in points) in which to smooth
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1336 lane changes. As per tools_math.cat_mvgavg(), this term
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1337 is a search *radius* around the center of the window.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1338
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1339 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1340
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1341 self.curvilinearPositions = CurvilinearTrajectory()
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1342
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1343 #For each point
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1344 for i in xrange(int(self.length())):
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1345 result = getSYfromXY(self.getPositionAt(i), alignments)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1346
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1347 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1348 if(result is None):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1349 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1350 else:
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1351 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1352 self.curvilinearPositions.addPositionSYL(S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1353
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1354 ## Go back through points and correct lane
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1355 #Run through objects looking for outlier point
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1356 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win)
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1357 ## Recalculate projected point to new lane
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1358 lanes = self.curvilinearPositions.getLanes()
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1359 if(lanes != smoothed_lanes):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1360 for i in xrange(len(lanes)):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1361 if(lanes[i] != smoothed_lanes[i]):
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1362 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1363
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1364 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1365 if(result is None):
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1366 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment.
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1367 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1368 else:
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1369 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1370 self.curvilinearPositions.setPosition(i, S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1371
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1372 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1373 '''Computes the trajectory as the mean of all features
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1374 if a feature exists, its position is
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1375
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1376 Warning work in progress
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1377 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1378 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1379 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1380 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1381 else:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1382 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1383 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1384 for i in xrange(nFeatures):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1385 for j in xrange(i):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1386 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1387 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1388 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1389 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1390 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1391 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1392 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1393 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)])
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1394 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi))
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1395 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1396
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1397 ###
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1398 # User Type Classification
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1399 ###
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1400 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1401 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1402 slow: non-motorized -> pedestrians
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 583
diff changeset
1403 fast: motorized -> cars
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1404
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1405 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile:
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1406 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile'''
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1407 speeds = self.getSpeeds(nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1408 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1409 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1410 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1411 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1412
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1413 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1414 '''Classifies road user per road user type
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1415 speedProbabilities are functions return P(speed|class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1416 in a dictionary indexed by user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1417 Returns probabilities for each class
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1418
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1419 for simple threshold classification, simply pass non-overlapping indicator functions (membership)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1420 e.g. def indic(x):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1421 if abs(x-mu) < sigma:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1422 return 1
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1423 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1424 return x'''
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1425 if not hasattr(self, 'aggregatedSpeed'):
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1426 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1427 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1428 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1429 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1430 self.setUserType(utils.argmaxDict(userTypeProbabilities))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1431 return userTypeProbabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1432
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1433 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1434 '''Initializes the data structures for classification
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1435
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1436 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1437 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1438 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1439 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1440 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1441 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1442 else:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1443 class CarClassifier:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1444 def predict(self, hog):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1445 return userType2Num['car']
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1446 self.appearanceClassifier = CarClassifier()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1447
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1448 self.userTypes = {}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1449
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1450 def classifyUserTypeHoGSVMAtInstant(self, img, instant, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1451 '''Extract the image box around the object and
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1452 applies the SVM model on it'''
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1453 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = cvutils.imageBox(img, self, instant, homography, width, height, px, py, minNPixels)
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 682
diff changeset
1454 if croppedImg is not None and len(croppedImg) > 0:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1455 hog = cvutils.HOG(croppedImg)#HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1456 self.userTypes[instant] = int(self.appearanceClassifier.predict(hog))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1457 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1458 self.userTypes[instant] = userType2Num['unknown']
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1459
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1460 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1461 '''Agregates SVM detections in each image and returns probability
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1462 (proportion of instants with classification in each category)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1463
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1464 images is a dictionary of images indexed by instant
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1465 With default parameters, the general (ped-bike-car) classifier will be used
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1466
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1467 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1468 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1469 print('Initilize the data structures for classification by HoG-SVM')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1470 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1471
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1472 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1473 for t in self.getTimeInterval():
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1474 if t not in self.userTypes:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1475 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1476 # compute P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1477 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1478 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.}
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1479 else:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1480 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1481 # result is P(Class|Appearance) x P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1482 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1483 for t in self.userTypes:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1484 nInstantsUserType[self.userTypes[t]] = nInstantsUserType.get(self.userTypes[t], 0) + 1
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1485 for userTypeNum in userTypeProbabilities:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1486 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum]
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1487 # class is the user type that maximizes usertype probabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1488 self.setUserType(utils.argmaxDict(userTypeProbabilities))
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1489
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1490 def classifyUserTypeArea(self, areas, homography):
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1491 '''Classifies the object based on its location (projected to image space)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1492 areas is a dictionary of matrix of the size of the image space
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1493 for different road users possible locations, indexed by road user type names
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1494
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1495 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1496 skip frames at beginning/end?'''
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1497 print('not implemented/tested yet')
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1498 if not hasattr(self, projectedPositions):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1499 if homography is not None:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1500 self.projectedPositions = obj.positions.project(homography)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1501 else:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1502 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1503 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))}
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1504 for p in self.projectedPositions:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1505 for userTypename in areas:
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1506 if areas[userTypename][p.x, p.y] != 0:
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1507 possibleUserTypes[userType2Enum[userTypename]] += 1
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1508 # what to do: threshold for most common type? self.setUserType()
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1509 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1510
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1511 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1512 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1513 '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
1514 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
1515 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
1516 return Point.dot(deltap, deltav)
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1517
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1518 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1519 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1520 'A positive result indicates that the road users are getting closer'
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1521 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1522 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1523
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1524
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1525 ##################
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1526 # Annotations
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1527 ##################
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1528
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1529 class BBAnnotation(MovingObject):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1530 '''Class for a series of ground truth annotations using bounding boxes
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1531 Its center is the center of the containing shape
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1532
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1533 By default in image space
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1534 '''
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1535
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1536 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1537 super(BBAnnotation, self).__init__(num, timeInterval, userType = userType)
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1538 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1539 self.bottomRightPositions = bottomRightPositions.getPositions()
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1540
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1541 def computeCentroidTrajectory(self, homography = None):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1542 self.positions = self.topLeftPositions.add(self.bottomRightPositions).multiply(0.5)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1543 if homography is not None:
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1544 self.positions = self.positions.project(homography)
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1545
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1546 def matches(self, obj, instant, matchingDistance):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1547 '''Indicates if the annotation matches obj (MovingObject)
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1548 with threshold matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1549 Returns distance if below matchingDistance, matchingDistance+1 otherwise
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1550 (returns an actual value, otherwise munkres does not terminate)'''
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1551 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1552 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1553 return d
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1554 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1555 return matchingDistance + 1
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1556
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1557 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1558 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1559
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1560 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1561 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1562
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1563 objects and annotations are supposed to in the same space
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1564 current implementation is BBAnnotations (bounding boxes)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1565 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1566
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1567 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1568 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1569
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1570 Output: returns motp, mota, mt, mme, fpt, gt
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1571 mt number of missed GT.frames (sum of the number of GT not detected in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1572 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1573 fpt number of false alarm.frames (tracker objects without match in each frame)
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1574 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1575
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1576 if returnMatches is True, return as 2 new arguments the GT and TO matches
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1577 matches is a dict
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1578 matches[i] is the list of matches for GT/TO i
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1579 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1580 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm)
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1581
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1582 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance?
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1583 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1584 from munkres import Munkres
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1585
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1586 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1587 dist = 0. # total distance between GT and TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1588 ct = 0 # number of associations between GT and tracker output in each frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1589 gt = 0 # number of GT.frames
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1590 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1591 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1592 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1593 matches = {} # match[i] is the tracker track associated with GT i (using object references)
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1594 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1595 gtMatches = {a.getNum():{} for a in annotations}
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1596 toMatches = {o.getNum():{} for o in objects}
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1597 for t in xrange(firstInstant, lastInstant+1):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1598 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1599 # go through currently matched GT-TO and check if they are still matched withing matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1600 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1601 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1602 if a.existsAtInstant(t) and matches[a].existsAtInstant(t):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1603 d = a.matches(matches[a], t, matchingDistance)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1604 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1605 dist += d
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1606 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1607 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1608 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1609 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1610 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1611 del matches[a]
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1612
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1613 # match all unmatched GT-TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1614 matchedGTs = matches.keys()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1615 matchedTOs = matches.values()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1616 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1617 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1618 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1619 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1620 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1621 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1622 for a in unmatchedGTs:
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1623 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs])
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1624 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1625 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1626 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1627 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1628 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1629 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1630 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1631 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.iteritems()]))
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1632 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1633 for a,o in matches.iteritems():
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1634 gtMatches[a.getNum()][t] = o.getNum()
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1635 toMatches[o.getNum()][t] = a.getNum()
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1636
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1637 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1638 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1639 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1640 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1641 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1642 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1643 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1644 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1645 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1646 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1647 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1648 mismatches.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1649 elif matches[a] in previousMatches.values():
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1650 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1651 for a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1652 if a not in matches and previousMatches[a] in matches.values():
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1653 mismatches.append(previousMatches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1654 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1655 for mm in set(mismatches):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1656 print type(mm), mm.getNum()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1657 # some object mismatches may appear twice
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1658 mme += len(set(mismatches))
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1659
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1660 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1661 motp = dist/ct
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1662 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1663 motp = None
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1664 if gt > 0:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1665 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1666 else:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1667 mota = None
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1668 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1669 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1670 else:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
1671 return motp, mota, mt, mme, fpt, gt
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1672
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1673 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
1674 '''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
1675 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
1676 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1677 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1678 obj.plot(colors.get(obj.userType))
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1679 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1680
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1681
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1682 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1683 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1684 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1685 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1686 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1687 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1688 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1689 #doctest.testfile("example.txt")
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1690 if shapelyAvailable:
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1691 suite = doctest.DocFileSuite('tests/moving_shapely.txt')
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1692 unittest.TextTestRunner().run(suite)