Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 573:cae4e5f3fe9f
fixed and simplified getSYfromXY
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Tue, 12 Aug 2014 17:47:16 -0400 |
parents | a9c1d61a89b4 |
children | e24eeb244698 |
rev | line source |
---|---|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1 #! /usr/bin/env python |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
2 '''Libraries for moving objects, trajectories...''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
3 |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
4 import utils |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
5 import cvutils |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
6 |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
7 from math import sqrt |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
8 from numpy import median |
16 | 9 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
10 try: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
11 from shapely.geometry import Polygon, Point as shapelyPoint |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
12 from shapely.prepared import prep |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
13 shapelyAvailable = True |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
14 except ImportError: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
15 print('Shapely library could not be loaded') |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
16 shapelyAvailable = False |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
17 |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
18 __metaclass__ = type |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
19 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
20 class Interval(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
21 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 22 def __init__(self, first=0, last=-1, revert = False): |
23 if revert and last<first: | |
24 self.first=last | |
25 self.last=first | |
26 else: | |
27 self.first=first | |
28 self.last=last | |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
29 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
30 def __str__(self): |
104
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
31 return '[{0}, {1}]'.format(self.first, self.last) |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
32 |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
33 def __repr__(self): |
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
34 return self.__str__() |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
35 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
36 def empty(self): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
37 return self.first > self.last |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
38 |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
39 def center(self): |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
40 return (self.first+self.last)/2. |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
41 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
42 def length(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
43 '''Returns the length of the interval''' |
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
|
44 return float(max(0,self.last-self.first)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
45 |
96
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
46 def equal(self, i2): |
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
47 return self.first==i2.first and self.last == i2.last |
9928c2fa72cc
added equal method to intervals
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
93
diff
changeset
|
48 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
49 def getList(self): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
50 return [self.first, self.last] |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
51 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
52 def contains(self, instant): |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
53 return (self.first<=instant and self.last>=instant) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
54 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
55 def inside(self, interval2): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
56 '''Indicates if the temporal interval of self is comprised in interval2''' |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
57 return (self.first >= interval2.first) and (self.last <= interval2.last) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
58 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
59 @classmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
60 def union(cls, interval1, interval2): |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
61 '''Smallest interval comprising self and interval2''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
63 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
64 @classmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
65 def intersection(cls, interval1, interval2): |
104
13187af8622d
finally added the representation of intervals
Nicolas Saunier <nico@confins.net>
parents:
98
diff
changeset
|
66 '''Largest interval comprised in both self and interval2''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
68 |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
69 def distance(self, interval2): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
70 if not Interval.intersection(self, interval2).empty(): |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
71 return 0 |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
72 elif self.first > interval2.last: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
73 return self.first - interval2.last |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
74 elif self.last < interval2.first: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
75 return interval2.first - self.last |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
76 else: |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
77 return None |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
78 |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
79 |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
80 def unionIntervals(intervals): |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
81 'returns the smallest interval containing all intervals' |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
82 inter = intervals[0] |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
83 for i in intervals[1:]: |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
84 inter = Interval.union(inter, i) |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
85 return inter |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
86 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
87 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
88 class TimeInterval(Interval): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
89 '''Temporal interval: set of instants at fixed time step, between first and last, included |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
90 |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
91 For example: based on frame numbers (hence the modified length method) |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
92 It may be modified directly by setting first and last''' |
26 | 93 |
94 def __init__(self, first=0, last=-1): | |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
95 super(TimeInterval, self).__init__(first, last, False) |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
96 |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
97 @staticmethod |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
98 def fromInterval(inter): |
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
99 return TimeInterval(inter.first, inter.last) |
26 | 100 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
101 def __getitem__(self, i): |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
102 if not self.empty(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
103 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
|
104 return self.first+i |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
105 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
106 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
|
107 #elif isinstance( key, slice ): |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
108 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
109 def __iter__(self): |
107
916678481896
corrected bug for TimeInterval interation and added corresponding test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
105
diff
changeset
|
110 self.iterInstantNum = -1 |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
111 return self |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
112 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
113 def next(self): |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
114 if self.iterInstantNum >= self.length()-1: |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
115 raise StopIteration |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
116 else: |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
117 self.iterInstantNum += 1 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
118 return self[self.iterInstantNum] |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
119 |
26 | 120 def length(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
121 '''Returns the length of the interval''' |
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
|
122 return float(max(0,self.last-self.first+1)) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
123 |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
124 # class BoundingPolygon: |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
125 # '''Class for a polygon bounding a set of points |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
126 # with methods to create intersection, unions... |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
127 # ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
128 # We will use the polygon class of Shapely |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
129 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
130 class STObject(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
131 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 132 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
133 |
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
134 It may not mean that the object is defined |
6 | 135 for all time instants within the time interval''' |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
136 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
137 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
138 self.num = num |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
139 self.timeInterval = timeInterval |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
140 self.boundingPolygon = boundingPolygon |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
141 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
142 def empty(self): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
143 return self.timeInterval.empty() or not self.boudingPolygon |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
144 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
145 def getNum(self): |
211 | 146 return self.num |
147 | |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
148 def getFirstInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents:
39
diff
changeset
|
149 return self.timeInterval.first |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
150 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
151 def getLastInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents:
39
diff
changeset
|
152 return self.timeInterval.last |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
153 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
154 def getTimeInterval(self): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
155 return self.timeInterval |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
156 |
108
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
157 def existsAtInstant(self, t): |
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
158 return self.timeInterval.contains(t) |
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
159 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
160 def commonTimeInterval(self, obj2): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
161 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
162 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
163 class Point(object): |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
164 def __init__(self, x, y): |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
165 self.x = x |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
166 self.y = y |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
167 |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
168 def __str__(self): |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
169 return '(%f,%f)'%(self.x,self.y) |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
170 |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
171 def __repr__(self): |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
172 return self.__str__() |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
173 |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
174 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
175 return Point(self.x+other.x, self.y+other.y) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
176 |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
177 def __sub__(self, other): |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
178 return Point(self.x-other.x, self.y-other.y) |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
179 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
180 def __neg__(self): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
181 return Point(-self.x, -self.y) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
182 |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
183 def orthogonal(self): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
184 return Point(self.y, -self.x) |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
185 |
105
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
186 def multiply(self, alpha): |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
187 'Warning, returns a new Point' |
105
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
188 return Point(self.x*alpha, self.y*alpha) |
9844c69d8fa2
added multiply method to Point
Nicolas Saunier <nico@confins.net>
parents:
104
diff
changeset
|
189 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
190 def plot(self, options = 'o', **kwargs): |
41 | 191 from matplotlib.pylab import plot |
211 | 192 plot([self.x], [self.y], options, **kwargs) |
41 | 193 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
194 def norm2Squared(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
195 '''2-norm distance (Euclidean distance)''' |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
196 return self.x**2+self.y**2 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
197 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
198 def norm2(self): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
199 '''2-norm distance (Euclidean distance)''' |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
200 return sqrt(self.norm2Squared()) |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
201 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
202 def norm1(self): |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
203 return abs(self.x)+abs(self.y) |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
204 |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
205 def normMax(self): |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
206 return max(abs(self.x),abs(self.y)) |
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
207 |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
208 def aslist(self): |
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
209 return [self.x, self.y] |
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
210 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
211 def astuple(self): |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
212 return (self.x, self.y) |
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
213 |
223
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
214 def asint(self): |
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
215 return Point(int(self.x), int(self.y)) |
c31722fcc9de
minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
214
diff
changeset
|
216 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
217 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
|
218 def asShapely(self): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
219 return shapelyPoint(self.x, self.y) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
220 |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
221 def project(self, homography): |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
222 from numpy.core.multiarray import array |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
223 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
224 return Point(projected[0], projected[1]) |
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
225 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
226 def inPolygonNoShapely(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
|
227 '''Indicates if the point x, y is inside the polygon |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
228 (array of Nx2 coordinates of the polygon vertices) |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
229 |
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
|
230 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
231 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
232 Use Polygon.contains if Shapely is installed''' |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
233 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
234 n = polygon.shape[0]; |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
235 counter = 0; |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
236 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
237 p1 = polygon[0,:]; |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
238 for i in range(n+1): |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
239 p2 = polygon[i % n,:]; |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
240 if self.y > min(p1[1],p2[1]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
241 if self.y <= max(p1[1],p2[1]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
242 if self.x <= max(p1[0],p2[0]): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
243 if p1[1] != p2[1]: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
244 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
245 if p1[0] == p2[0] or self.x <= xinters: |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
246 counter+=1; |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
247 p1=p2 |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
248 return (counter%2 == 1); |
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
249 |
49 | 250 @staticmethod |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
251 def fromList(p): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
252 return Point(p[0], p[1]) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
253 |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
254 @staticmethod |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
255 def dot(p1, p2): |
89
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
256 'Scalar product' |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
257 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
|
258 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
259 @staticmethod |
90
f84293ad4611
renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
89
diff
changeset
|
260 def cross(p1, p2): |
f84293ad4611
renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
89
diff
changeset
|
261 'Cross product' |
89
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
262 return p1.x*p2.y-p1.y*p2.x |
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
263 |
f88a19695bba
added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
83
diff
changeset
|
264 @staticmethod |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
265 def cosine(p1, p2): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
266 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
|
267 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
268 @staticmethod |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
269 def distanceNorm2(p1, p2): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
270 return (p1-p2).norm2() |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
271 |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
272 @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
|
273 def plotAll(points, **kwargs): |
64
c75bcdaed00f
added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
62
diff
changeset
|
274 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
|
275 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
|
276 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
277 def similarOrientation(self, refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
278 '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
|
279 return Point.cosine(self, refDirection) >= cosineThreshold |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
280 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
281 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
464
diff
changeset
|
282 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
|
283 '''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
|
284 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
|
285 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
|
286 and the circle of radius collisionThreshold around the other road user''' |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
287 from math import sqrt |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
288 dv = v1-v2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
289 dp = p1-p2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
290 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
|
291 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
|
292 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
|
293 |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
294 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
|
295 if delta >= 0: |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
296 deltaRoot = sqrt(delta) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
297 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
|
298 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
|
299 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
|
300 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
|
301 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
|
302 ttc = ttc1 |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
303 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
|
304 ttc = ttc2 |
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
305 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
|
306 ttc = None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
307 else: |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
308 ttc = None |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
309 return ttc |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
310 |
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
311 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
312 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
|
313 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
|
314 '''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
|
315 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
|
316 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
|
317 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
318 # Functions for coordinate transformation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
319 # 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
|
320 def subsec_spline_dist(splines): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
321 ''' 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
|
322 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
323 Output: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
324 ======= |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
325 ss_spline_d[spline #][mode][station] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
326 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
327 where: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
328 mode=0: incremental distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
329 mode=1: cumulative distance |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
330 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
|
331 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
332 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
333 from numpy import zeros |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
334 ss_spline_d = [] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
335 #Prepare subsegment distances |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
336 for spline in range(len(splines)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
337 ss_spline_d.append([[],[],[]]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
338 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
|
339 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
|
340 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
|
341 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
|
342 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
|
343 break |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
344 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
|
345 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
|
346 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
|
347 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
348 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
|
349 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
350 return ss_spline_d |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
351 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
352 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
|
353 ''' 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
|
354 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
|
355 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
356 if(p0x == p1x and p0y == p1y): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
357 return False,False |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
358 try: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
359 #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
|
360 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
|
361 p1x += 0.0000000001 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
362 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
|
363 p1y += 0.0000000001 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
364 #make the calculation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
365 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
|
366 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
|
367 except ZeroDivisionError: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
368 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
|
369 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
|
370 import pdb; pdb.set_trace() |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
371 return X,Y |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
372 |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
373 def getSYfromXY(qx, qy, splines, goodEnoughSplineDistance = 0.5): |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
374 ''' Snap a point (coordinates qx, qy) to it's nearest subsegment of it's nearest spline (from the list splines). |
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 To force snapping to a single spline, pass the spline alone through splines (e.g. splines=[splines[splineNum]]). |
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 Output: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
379 ======= |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
380 [spline index, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
381 subsegment leading point index, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
382 snapped x coordinate, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
383 snapped y coordinate, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
384 subsegment distance, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
385 spline distance, |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
386 orthogonal point offset] |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
387 ''' |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
388 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
389 #(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
|
390 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
|
391 |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
392 minOffsetY = float('inf') |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
393 #For each spline |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
394 for spline in range(len(splines)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
395 #For each spline point |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
396 for spline_p in range(len(splines[spline])-1): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
397 #Get closest point on spline |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
398 X,Y = ppldb2p(qx,qy,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1]) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
399 if X == False and Y == False: |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
400 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
|
401 return None |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
402 if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], X) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], Y): |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
403 offsetY = utils.pointDistanceL2(qx,qy,X,Y) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
404 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
405 minOffsetY = offsetY |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
406 snappedSpline = spline |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
407 snappedSplineLeadingPoint = spline_p |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
408 snapped_x = X |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
409 snapped_y = Y |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
410 #Jump loop if significantly close |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
411 if offsetY < goodEnoughSplineDistance: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
412 break |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
413 #Get sub-segment distance |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
414 subsegmentDistance = utils.pointDistanceL2(splines[snappedSpline][snappedSplineLeadingPoint][0],splines[snappedSpline][snappedSplineLeadingPoint][1],snapped_x,snapped_y) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
415 #Get total segment distance |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
416 splineDistanceS = ss_spline_d[snappedSpline][1][snappedSplineLeadingPoint] + subsegmentDistance |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
417 orthogonalSplineVector = Point(splines[snappedSpline][snappedSplineLeadingPoint+1][1]-splines[snappedSpline][snappedSplineLeadingPoint][1], |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
418 splines[snappedSpline][snappedSplineLeadingPoint][0]-splines[snappedSpline][snappedSplineLeadingPoint+1][0])#positive orthogonal vector of vector (x,y) is (y, -x) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
419 offsetVector = Point(qx-snapped_x, qy-snapped_y) |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
420 if Point.dot(orthogonalSplineVector, offsetVector) < 0: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
421 minOffsetY = -minOffsetY |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
422 return [snappedSpline, snappedSplineLeadingPoint, snapped_x, snapped_y, subsegmentDistance, splineDistanceS, minOffsetY] |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
423 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
424 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
|
425 ''' Find X,Y coordinate from S,Y data. |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
426 if mode = 0 : return Snapped X,Y |
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
427 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
|
428 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
429 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
430 #(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
|
431 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
|
432 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
433 #Find subsegment |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
434 snapped_x = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
435 snapped_y = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
436 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
|
437 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
|
438 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
|
439 #Get normal vector and then snap |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
440 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
|
441 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
|
442 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
|
443 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
|
444 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
|
445 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
|
446 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
|
447 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
448 #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
|
449 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
|
450 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
|
451 break |
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 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
|
454 if(not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
455 snapped_x = splines[splineNum][-1][0] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
456 snapped_y = splines[splineNum][-1][1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
457 return [snapped_x,snapped_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
458 else: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
459 return [real_x,real_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
460 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
461 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
462 class NormAngle(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
463 '''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
|
464 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
465 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
|
466 self.norm = norm |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
467 self.angle = angle |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
468 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
469 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
470 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
471 from math import atan2 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
472 norm = p.norm2() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
473 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
|
474 angle = atan2(p.y, p.x) |
339 | 475 else: |
476 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
477 return NormAngle(norm, angle) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
478 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
479 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
480 '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
|
481 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
|
482 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
483 def getPoint(self): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
484 from math import cos, sin |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
485 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
|
486 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
487 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
488 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
|
489 '''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
|
490 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
|
491 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
492 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
|
493 '''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
|
494 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
|
495 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
|
496 predictedSpeedTheta = speedOrientation+control |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
497 if maxSpeed: |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
498 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
|
499 predictedPosition = position+predictedSpeedTheta.getPoint() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
500 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
501 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
502 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
503 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
504 '''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
|
505 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
|
506 def __init__(self, position, velocity): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
507 '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
|
508 self.position = position |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
509 self.velocity = velocity |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
510 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
511 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
512 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
|
513 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
514 def multiply(self, alpha): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
515 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
|
516 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
517 def plot(self, options = '', **kwargs): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
518 from matplotlib.pylab import plot |
211 | 519 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
|
520 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
|
521 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
522 @staticmethod |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
523 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
|
524 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
|
525 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
526 def intersection(p1, p2, p3, p4): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
527 ''' 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
|
528 http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
529 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
530 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
531 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y) |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
532 det = dp34.y*dp12.x-dp34.x*dp12.y |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
533 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
|
534 return None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
535 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
536 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
|
537 return p1+dp12.multiply(ua) |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
538 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
539 # def intersection(p1, p2, dp1, dp2): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
540 # '''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
|
541 # 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
|
542 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
543 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
544 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
545 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
546 # 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
|
547 # [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
|
548 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
549 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
550 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
551 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
552 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
553 # 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
|
554 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
555 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
|
556 '''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
|
557 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
558 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
|
559 return None |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
560 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
561 inter = intersection(p1, p2, p3, p4) |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
562 if (inter != None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
563 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
|
564 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
|
565 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
|
566 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
|
567 return inter |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
568 else: |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
569 return None |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
570 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
571 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
572 '''Class for trajectories: temporal sequence of positions |
22 | 573 |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
574 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
575 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
576 def __init__(self, positions=None): |
331
40790d93200e
corrected a bug for Trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
577 if positions != None: |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
578 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
579 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
580 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
581 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
582 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
583 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
|
584 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
585 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
|
586 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
587 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
|
588 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
589 t.addPosition(p0) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
590 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
|
591 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
592 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
593 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
594 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
|
595 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
596 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
597 @staticmethod |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
598 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
599 t = Trajectory() |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
600 for p in points: |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
601 t.addPosition(p) |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
602 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
603 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
604 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
605 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
606 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
607 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
608 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
609 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
610 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
|
611 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
|
612 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
|
613 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
614 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
|
615 #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
|
616 |
16 | 617 def __str__(self): |
39 | 618 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 619 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
620 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
|
621 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
622 |
546 | 623 |
22 | 624 def __iter__(self): |
625 self.iterInstantNum = 0 | |
626 return self | |
627 | |
628 def next(self): | |
629 if self.iterInstantNum >= self.length(): | |
630 raise StopIteration | |
631 else: | |
632 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
633 return self[self.iterInstantNum-1] |
22 | 634 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
635 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
636 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
637 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
638 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
639 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
640 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
641 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
642 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
643 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
|
644 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
645 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
646 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
647 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
|
648 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
|
649 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
650 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
651 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
|
652 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
|
653 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
654 @staticmethod |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
655 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
656 from matplotlib.pylab import plot |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
657 if lastCoordinate == None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
658 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
|
659 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
660 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
|
661 if withOrigin: |
211 | 662 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
|
663 |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
664 def project(self, homography): |
318 | 665 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
666 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
667 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
|
668 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
|
669 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
670 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
|
671 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
|
672 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
673 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
674 from matplotlib.pylab import plot |
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
675 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
676 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
677 Trajectory._plot(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
678 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
679 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
680 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
681 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
682 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
683 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
|
684 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
685 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
|
686 from numpy.core.multiarray import array |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
687 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
688 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
689 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
690 # 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
|
691 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
692 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
693 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
694 # 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
|
695 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
696 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
697 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
698 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
699 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
700 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
701 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
702 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
703 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
|
704 [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
|
705 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
706 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
707 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
708 if self.length() != traj2.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
709 print 'Trajectories of different lengths' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
710 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
711 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
712 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
|
713 [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
|
714 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
715 def differentiate(self, doubleLastPosition = False): |
339 | 716 diff = Trajectory() |
717 for i in xrange(1, self.length()): | |
718 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
|
719 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
720 diff.addPosition(diff[-1]) |
339 | 721 return diff |
722 | |
16 | 723 def norm(self): |
724 '''Returns the list of the norms at each instant''' | |
725 # def add(x, y): return x+y | |
726 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
727 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
728 from numpy import hypot |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
729 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
730 |
49 | 731 def cumulatedDisplacement(self): |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
732 'Returns the sum of the distances between each successive point' |
49 | 733 displacement = 0 |
734 for i in xrange(self.length()-1): | |
735 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
736 return displacement | |
737 | |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
738 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
739 '''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
|
740 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
|
741 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
742 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
743 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
744 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
745 count += 1 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
746 if count > lengthThreshold: |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
747 return True |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
748 return False |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
749 |
49 | 750 def wiggliness(self): |
751 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
752 | |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
753 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
754 '''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
|
755 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
|
756 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
|
757 indices = [] |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
758 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
759 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
760 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
761 q2=self.__getitem__(i+1) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
762 p = utils.segmentIntersection(q1, q2, p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
763 if p: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
764 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
765 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
766 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
767 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
768 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
769 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
770 indices.append(i+ratio) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
771 return indices |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
772 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
773 def getTrajectoryInInterval(self, inter): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
774 if inter.first >=0 and inter.last<= self.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
775 return Trajectory([self.positions[0][inter.first:inter.last], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
776 self.positions[1][inter.first:inter.last]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
777 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
778 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
779 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
780 def getTrajectoryInPolygonNoShapely(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
|
781 '''Returns the trajectory built with the set of points inside the polygon |
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
|
782 (array of Nx2 coordinates of the polygon vertices)''' |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
783 traj = Trajectory() |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
784 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
|
785 if p.inPolygonNoShapely(polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
786 traj.addPosition(p) |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
787 return traj |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
788 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
789 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
|
790 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
|
791 '''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
|
792 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
|
793 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
|
794 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
|
795 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
|
796 return traj |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
797 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
798 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
799 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
800 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
801 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
802 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
803 '''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
|
804 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
|
805 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
|
806 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
807 def __init__(self, S = None, Y = None, lanes = None): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
808 if S == None or Y == 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
|
809 self.positions = [[],[]] |
552
ca6bded754ac
corrected more bugs from merging (caught in regression tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
551
diff
changeset
|
810 if S != None and Y != None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
811 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
|
812 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
813 self.positions = [S,Y] |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
814 if lanes == 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
|
815 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
|
816 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
817 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
818 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
819 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
|
820 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
|
821 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
|
822 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
823 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
|
824 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
825 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
826 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
827 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
828 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
829 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
830 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
831 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
832 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
|
833 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
834 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
835 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
836 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
|
837 '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
|
838 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
|
839 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
840 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
|
841 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
842 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
843 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
844 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
845 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
|
846 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
847 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
|
848 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
|
849 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
|
850 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
|
851 p1=p2 |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
852 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
853 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
|
854 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
855 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
856 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
857 '''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
|
858 goes past the curvilinear coordinate S1 |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
859 (in provided lane if lane != None) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
860 the list is empty if there is no crossing''' |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
861 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
862 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
863 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
864 q2=self.__getitem__(i+1) |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
865 if q1[0] <= S1 < q2[0] and (lane == 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
|
866 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
|
867 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
868 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
869 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
870 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
871 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
872 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
873 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
|
874 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
875 '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
|
876 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
877 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
878 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
879 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
880 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
881 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
882 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
883 class MovingObject(STObject): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
884 '''Class for moving objects: a spatio-temporal object |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
885 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
886 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
887 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
888 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
|
889 super(MovingObject, self).__init__(num, timeInterval) |
16 | 890 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
891 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
892 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
893 self.userType = userType |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
894 self.features = [] |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
895 # compute bounding polygon from trajectory |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
896 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
897 @staticmethod |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
898 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
|
899 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
|
900 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
|
901 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
902 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
903 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
904 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
|
905 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
|
906 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
907 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
|
908 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
|
909 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
910 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
911 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
912 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
913 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
|
914 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
915 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
916 def length(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
917 return self.timeInterval.length() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
918 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
919 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
920 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
921 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
922 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
923 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
924 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
925 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
|
926 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
|
927 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
928 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
929 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
930 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
931 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
932 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
933 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
934 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
|
935 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
|
936 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
937 def setFeatures(self, features): |
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
938 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
|
939 |
49 | 940 def getSpeeds(self): |
941 return self.getVelocities().norm() | |
942 | |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
943 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
944 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
945 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
946 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
947 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
948 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
949 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
950 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
|
951 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
952 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
953 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
|
954 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
955 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
956 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
957 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
958 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
959 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
960 |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
961 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
962 if withFeatures: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
963 for f in self.features: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
964 f.positions.plot('r', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
965 self.positions.plot('bx-', True, timeStep, **kwargs) |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
966 else: |
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
967 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
|
968 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
969 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, 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
|
970 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 971 |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
972 def play(self, videoFilename, homography = None): |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
973 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
974 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
975 def speedDiagnostics(self, framerate = 1., display = False): |
377 | 976 from numpy import std |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
977 from scipy.stats import scoreatpercentile |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
978 speeds = framerate*self.getSpeeds() |
377 | 979 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 980 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 | 981 if display: |
379 | 982 from matplotlib.pyplot import figure, plot, axis |
377 | 983 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
984 self.plot() |
379 | 985 axis('equal') |
377 | 986 figure(2) |
987 plot(list(self.getTimeInterval()), speeds) | |
988 | |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
989 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
990 def distances(obj1, obj2, instant1, _instant2 = None): |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
991 from scipy.spatial.distance import cdist |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
992 if _instant2 == None: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
993 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
994 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
995 instant2 = _instant2 |
546 | 996 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
997 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
998 return cdist(positions1, positions2, metric = 'euclidean') | |
999 | |
1000 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1001 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1002 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1003 |
1004 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1005 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1006 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
|
1007 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1008 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1009 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1010 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
|
1011 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1012 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1013 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1014 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1015 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
|
1016 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1017 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1018 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1019 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1020 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1021 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
|
1022 return None |
546 | 1023 |
550 | 1024 def setRoutes(self, startRouteID, endRouteID): |
1025 self.startRouteID = startRouteID | |
1026 self.endRouteID = endRouteID | |
546 | 1027 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1028 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
|
1029 '''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
|
1030 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
|
1031 empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1032 indices = self.positions.getIntersections(p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1033 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1034 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1035 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
|
1036 '''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
|
1037 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1038 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
|
1039 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1040 def transformToCurvilinear(objects, alignments, ln_mv_av_win=3, verbose=0): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1041 ''' 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
|
1042 (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
|
1043 curvilinear coordinates using alignment metadata. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1044 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
|
1045 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1046 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1047 Input: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1048 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1049 objects = list of objects supplied by Traffic Intelligence |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1050 alignments = a list of alignments, where each alignment is a list of |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1051 points, where each point is a list of coordinates, e.g. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1052 alignments[alpha][1][x] is coordinate x for point number |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1053 1 of the spline that represents alignment alpha. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1054 alignments can also be a compatible object that mimics a |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1055 3-dimensional list using the __getitem__() method as is |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1056 the case in the PVAT specification. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1057 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
|
1058 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
|
1059 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
|
1060 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1061 Output: (objects, dropped_traj) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1062 ======= |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1063 objects = modified list of objects |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1064 dropped_traj = list of objects or object segments that were |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1065 truncated. The format is identical to that of objects. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1066 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1067 if(len(objects) <= 0): return None, None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1068 if(verbose >= 2): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1069 print(' -------------') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1070 print(' Transforming coordinates...') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1071 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1072 lane_readjustments = 0 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1073 dropped_traj = [] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1074 original_object_length = len(objects) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1075 reset_objects = 0 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1076 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1077 #if(not isinstance(objects, list)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1078 # objects = [objects] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1079 # reset_objects = 1 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1080 #if(not isinstance(objects[0], TrafIntMoving.MovingObject)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1081 # return objects, dropped_traj |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1082 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1083 #For each object |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1084 for i in range(len(objects)): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1085 objects[i].curvilinearPositions = CurvilinearTrajectory([],[],[]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1086 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1087 #For each point |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1088 for point in range(len(objects[i].getXCoordinates())): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1089 [align, alignPoint, snapped_x, snapped_y, subsegmentDistance, S, Y] = PvaTools.Geo.getSYfromXY(objects[i].getXCoordinates()[point],objects[i].getYCoordinates()[point],alignments) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1090 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1091 # Error handling |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1092 if(align is False): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1093 if(verbose >= 2): print(' Warning: trajectory '+str(i)+' at point '+str(point)+' has alignment errors (spline snapping)') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1094 dropped_traj.append(objects[i]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1095 objects[i] = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1096 break |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1097 else: objects[i].curvilinearPositions.addPosition(S, Y, align) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1098 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1099 if(objects[i] == None): continue |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1100 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1101 ## Go back through points and correct lane |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1102 #Run through objects looking for outlier point |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1103 smoothed_lanes = PvaTools.Math.cat_mvgavg(objects[i].curvilinearPositions.getLanes(),window=ln_mv_av_win) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1104 ## Recalculate smoothed lanes |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1105 if(objects[i].curvilinearPositions.getLanes() != smoothed_lanes): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1106 for point in range(len(objects[i].getXCoordinates())): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1107 if(objects[i].curvilinearPositions.getLanes()[point] != smoothed_lanes[point]): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1108 [align, alignPoint, snapped_x, snapped_y, subsegmentDistance, S, Y] = PvaTools.Geo.getSYfromXY(objects[i].getXCoordinates()[point],objects[i].getYCoordinates()[point],[alignments[smoothed_lanes[point]]]) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1109 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1110 # Error handling |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1111 if(align is False): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1112 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1113 if(verbose >= 4): print(' Warning: trajectory '+str(i)+' at point '+str(point)+' has alignment errors during trajectory smoothing and will not be corrected.') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1114 else: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1115 objects[i].curvilinearPositions.setPosition(point, S, Y, align) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1116 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1117 #Resize objects |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1118 if(len(dropped_traj) > 0): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1119 objects = filter(None, objects) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1120 if(verbose >= 2): print(' Filtering report: Trajectories dropped: '+str(len(dropped_traj))) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1121 if(verbose >= 2): print(' Filtering report: Lane observation corrections per object: '+str(lane_readjustments/original_object_length)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1122 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1123 if(reset_objects and len(objects) > 0): return objects[0], dropped_traj |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1124 else: return objects, dropped_traj |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1125 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1126 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1127 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1128 '''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
|
1129 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
|
1130 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1131 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1132 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1133 from numpy import array, median |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1134 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1135 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1136 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1137 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1138 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1139 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
|
1140 for i in xrange(nFeatures): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1141 for j in xrange(i): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1142 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1143 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1144 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1145 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1146 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
|
1147 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
|
1148 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
|
1149 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
|
1150 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
|
1151 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1152 |
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
|
1153 ### |
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
|
1154 # 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
|
1155 ### |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
523
diff
changeset
|
1156 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, ignoreNInstantsAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1157 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1158 slow: non-motorized -> pedestrians |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1159 fast: motorized -> cars''' |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
1160 if ignoreNInstantsAtEnds > 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
|
1161 speeds = self.getSpeeds()[ignoreNInstantsAtEnds:-ignoreNInstantsAtEnds] |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
1162 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
|
1163 speeds = self.getSpeeds() |
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
|
1164 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1165 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1166 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1167 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1168 |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
523
diff
changeset
|
1169 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median): |
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
|
1170 '''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
|
1171 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
|
1172 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
|
1173 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
|
1174 |
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
|
1175 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
|
1176 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
|
1177 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
|
1178 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
|
1179 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
|
1180 return 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
|
1181 if not hasattr(self, aggregatedSpeed): |
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
|
1182 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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
|
1183 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
|
1184 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
|
1185 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
|
1186 |
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
|
1187 def initClassifyUserTypeHoGSVM(self, aggregationFunc = median): |
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
|
1188 '''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
|
1189 |
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
|
1190 TODO? compute speed for longest feature? |
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
|
1191 Skip beginning and end of feature for speed? Offer options instead of median''' |
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
|
1192 self.aggregatedSpeed = aggregationFunc(self.getSpeeds()) |
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
|
1193 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
|
1194 |
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
|
1195 def classifyUserTypeHoGSVMAtInstant(self, img, pedBikeCarSVM, instant, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), px = 0.2, py = 0.2, pixelThreshold = 800): |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1196 '''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
|
1197 applies the SVM model on it''' |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1198 from numpy import array |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1199 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, self, instant, homography, width, height, px, py, pixelThreshold) |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1200 if len(croppedImg) > 0: # != [] |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1201 hog = array([cvutils.HOG(croppedImg)], dtype = np.float32) |
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
|
1202 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM == None: |
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
|
1203 self.userTypes[instant] = int(pedBikeCarSVM.predict(hog)) |
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
|
1204 elif self.aggregatedSpeed < bikeCarSpeedTreshold: |
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
|
1205 self.userTypes[instant] = int(bikeCarSVM.predict(hog)) |
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
|
1206 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
|
1207 self.userTypes[instant] = userType2Num['car'] |
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
|
1208 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
|
1209 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
|
1210 |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
523
diff
changeset
|
1211 def classifyUserTypeHoGSVM(self, images, pedBikeCarSVM, homography, width, height, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), speedProbabilities = None, aggregationFunc = median, px = 0.2, py = 0.2, pixelThreshold = 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
|
1212 '''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
|
1213 (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
|
1214 |
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
|
1215 iamges is a dictionary of images indexed by instant |
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
|
1216 With default parameters, the general (ped-bike-car) classifier will be used |
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
|
1217 TODO? consider all categories?''' |
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
|
1218 if not hasattr(self, aggregatedSpeed) or not hasattr(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
|
1219 print('Initilize the data structures for classification by HoG-SVM') |
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
|
1220 self.initClassifyUserTypeHoGSVM(aggregationFunc) |
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
|
1221 |
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
|
1222 if len(self.userTypes) != self.length(): # if classification has not been done previously |
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
|
1223 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
|
1224 if t not in 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
|
1225 self.classifyUserTypeHoGSVMAtInstant(images[t], pedBikeCarSVM, t, homography, width, height, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, px, py, pixelThreshold) |
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
|
1226 # compute P(Speed|Class) |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
523
diff
changeset
|
1227 if speedProbabilities == None: # 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
|
1228 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
|
1229 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
|
1230 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
|
1231 # result is P(Class|Appearance) x 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
|
1232 nInstantsUserType = {userType2Num[userTypename]: 0 for userTypename in userTypeProbabilities}# number of instants the object is classified as userTypename |
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
|
1233 for t in 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
|
1234 nInstantsUserType[self.userTypes[t]] += 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
|
1235 for userTypename in 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
|
1236 userTypeProbabilities[userTypename] *= nInstantsUserType[userTypename] |
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
|
1237 # 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
|
1238 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
|
1239 |
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
|
1240 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
|
1241 '''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
|
1242 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
|
1243 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
|
1244 |
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
|
1245 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
|
1246 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
|
1247 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
|
1248 if not hasattr(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
|
1249 if homography != None: |
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
|
1250 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
|
1251 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
|
1252 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1253 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
|
1254 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
|
1255 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
|
1256 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
|
1257 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
|
1258 # 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
|
1259 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1260 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1261 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1262 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1263 '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
|
1264 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
|
1265 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
|
1266 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
|
1267 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1268 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1269 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1270 '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
|
1271 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
|
1272 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
|
1273 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1274 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
|
1275 '''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
|
1276 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
|
1277 figure() |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1278 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1279 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
|
1280 axis('equal') |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1281 |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1282 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1283 if __name__ == "__main__": |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1284 import doctest |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1285 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1286 suite = doctest.DocFileSuite('tests/moving.txt') |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1287 #suite = doctest.DocTestSuite() |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1288 unittest.TextTestRunner().run(suite) |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1289 #doctest.testmod() |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1290 #doctest.testfile("example.txt") |