Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 1001:cc7c6b821ae6
added methods for setting instants
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 30 May 2018 14:44:08 -0400 |
parents | 933670761a57 |
children | 75af46516b2b 01db14e947e4 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
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4 import utils, cvutils |
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corrected bug with circular import for VideoFilenameAddable, moved to base module
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5 from base import VideoFilenameAddable |
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6 |
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moved and rationalized imports in modules
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7 from math import sqrt, atan2, cos, sin |
996
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updated feature tracker to opencv 3
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8 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, float32, argwhere, minimum |
851
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added display of object id
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9 from matplotlib.pyplot import plot, text |
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10 from scipy.stats import scoreatpercentile |
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11 from scipy.spatial.distance import cdist |
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added savitzky golay filter for accelerations
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12 from scipy.signal import savgol_filter |
16 | 13 |
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Cleaned the methods/functions indicating if a point is in a polygon
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14 try: |
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15 from shapely.geometry import Polygon, Point as shapelyPoint |
781
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updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
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16 from shapely.prepared import prep, PreparedGeometry |
372
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17 shapelyAvailable = True |
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18 except ImportError: |
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19 print('Shapely library could not be loaded') |
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20 shapelyAvailable = False |
7
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loading shell objects from NGSIM works
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21 |
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22 |
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23 class Interval(object): |
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24 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 25 def __init__(self, first=0, last=-1, revert = False): |
26 if revert and last<first: | |
27 self.first=last | |
28 self.last=first | |
29 else: | |
30 self.first=first | |
31 self.last=last | |
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32 |
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33 def __str__(self): |
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34 return '[{0}, {1}]'.format(self.first, self.last) |
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35 |
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36 def __repr__(self): |
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37 return self.__str__() |
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38 |
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39 def __eq__(self, other): |
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40 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first)) |
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41 |
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42 def empty(self): |
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43 return self.first > self.last |
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44 |
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45 def center(self): |
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46 return (self.first+self.last)/2. |
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47 |
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48 def length(self): |
43
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49 '''Returns the length of the interval''' |
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50 return float(max(0,self.last-self.first)) |
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51 |
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52 def equal(self, i2): |
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53 return self.first==i2.first and self.last == i2.last |
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54 |
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55 def getList(self): |
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56 return [self.first, self.last] |
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57 |
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58 def contains(self, instant): |
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59 return (self.first<=instant and self.last>=instant) |
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60 |
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61 def inside(self, interval2): |
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62 '''Indicates if the temporal interval of self is comprised in interval2''' |
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63 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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64 |
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65 def shift(self, offset): |
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66 self.first += offset |
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67 self.last += offset |
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68 |
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69 @classmethod |
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70 def union(cls, interval1, interval2): |
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71 '''Smallest interval comprising self and interval2''' |
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72 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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73 |
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74 @classmethod |
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75 def intersection(cls, interval1, interval2): |
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76 '''Largest interval comprised in both self and interval2''' |
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77 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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78 |
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79 def distance(self, interval2): |
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80 if not Interval.intersection(self, interval2).empty(): |
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81 return 0 |
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82 elif self.first > interval2.last: |
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83 return self.first - interval2.last |
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84 elif self.last < interval2.first: |
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85 return interval2.first - self.last |
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86 else: |
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87 return None |
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88 |
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89 @classmethod |
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90 def unionIntervals(cls, intervals): |
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91 'returns the smallest interval containing all intervals' |
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92 inter = cls(intervals[0].first, intervals[0].last) |
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93 for i in intervals[1:]: |
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94 inter = cls.union(inter, i) |
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95 return inter |
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96 |
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97 |
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98 class TimeInterval(Interval): |
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99 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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100 |
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101 For example: based on frame numbers (hence the modified length method) |
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102 It may be modified directly by setting first and last |
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103 It also (mostly) works with datetime.datetime''' |
26 | 104 |
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105 def __init__(self, first=0, last=-1, revert = False): |
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106 super(TimeInterval, self).__init__(first, last, revert) |
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107 |
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108 @staticmethod |
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109 def fromInterval(inter): |
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110 return TimeInterval(inter.first, inter.last) |
26 | 111 |
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112 def __getitem__(self, i): |
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113 if not self.empty(): |
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114 if isinstance(i, int): |
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115 return self.first+i |
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116 else: |
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117 raise TypeError("Invalid argument type.") |
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118 #elif isinstance( key, slice ): |
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119 |
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120 def __iter__(self): |
107
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121 self.iterInstantNum = -1 |
27
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122 return self |
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123 |
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124 def __next__(self): |
67
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125 if self.iterInstantNum >= self.length()-1: |
27
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126 raise StopIteration |
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127 else: |
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128 self.iterInstantNum += 1 |
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129 return self[self.iterInstantNum] |
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130 |
26 | 131 def length(self): |
43
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132 '''Returns the length of the interval''' |
91
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133 return float(max(0,self.last-self.first+1)) |
7
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134 |
688
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135 def __len__(self): |
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136 return self.length() |
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137 |
7
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138 # class BoundingPolygon: |
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139 # '''Class for a polygon bounding a set of points |
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140 # with methods to create intersection, unions... |
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141 # ''' |
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142 # We will use the polygon class of Shapely |
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143 |
290
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144 class STObject(object): |
288
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145 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 146 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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147 |
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148 It may not mean that the object is defined |
6 | 149 for all time instants within the time interval''' |
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150 |
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151 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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152 self.num = num |
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153 self.timeInterval = timeInterval |
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154 self.boundingPolygon = boundingPolygon |
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155 |
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156 def empty(self): |
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157 return self.timeInterval.empty()# or not self.boudingPolygon |
2
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158 |
329
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added sqlite code, in particular to load and save road user type
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159 def getNum(self): |
211 | 160 return self.num |
161 | |
688
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162 def __len__(self): |
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163 return self.timeInterval.length() |
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164 |
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165 def length(self): |
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166 return self.timeInterval.length() |
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167 |
2
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168 def getFirstInstant(self): |
40
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169 return self.timeInterval.first |
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170 |
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171 def getLastInstant(self): |
40
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172 return self.timeInterval.last |
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173 |
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174 def setFirstInstant(self, t): |
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175 if t <= self.timeInterval.last: |
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176 self.timeInterval.first = t |
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177 else: |
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178 print('new first instant is after last, not changing') |
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179 |
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180 def setLastInstant(self, t): |
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181 if t >= self.timeInterval.first: |
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182 self.timeInterval.last = t |
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183 else: |
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184 print('new last instant is before first, not changing') |
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185 |
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186 def getTimeInterval(self): |
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187 return self.timeInterval |
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188 |
108
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189 def existsAtInstant(self, t): |
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190 return self.timeInterval.contains(t) |
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191 |
43
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192 def commonTimeInterval(self, obj2): |
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193 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
43
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194 |
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195 def shiftTimeInterval(self, offset): |
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196 self.timeInterval.shift(offset) |
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197 |
290
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198 class Point(object): |
25
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199 def __init__(self, x, y): |
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200 self.x = x |
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201 self.y = y |
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202 |
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203 def __str__(self): |
675
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204 return '({:f},{:f})'.format(self.x,self.y) |
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205 |
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206 def __repr__(self): |
98
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refactored projection functions
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207 return self.__str__() |
25
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diff
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208 |
776
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209 def __eq__(self, other): |
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210 return (self.x == other.x) and (self.y == other.y) |
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211 |
184
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diff
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212 def __add__(self, other): |
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diff
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213 return Point(self.x+other.x, self.y+other.y) |
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diff
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214 |
25
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diff
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|
215 def __sub__(self, other): |
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216 return Point(self.x-other.x, self.y-other.y) |
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217 |
451
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218 def __neg__(self): |
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219 return Point(-self.x, -self.y) |
575
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220 |
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diff
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221 def __getitem__(self, i): |
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diff
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222 if i == 0: |
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diff
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223 return self.x |
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diff
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224 elif i == 1: |
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diff
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225 return self.y |
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diff
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226 else: |
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diff
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227 raise IndexError() |
573
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diff
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228 |
690 | 229 def orthogonal(self, clockwise = True): |
230 'Returns the orthogonal vector' | |
231 if clockwise: | |
232 return Point(self.y, -self.x) | |
233 else: | |
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234 return Point(-self.y, self.x) |
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235 |
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236 def projectLocal(self, v, clockwise = True): |
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237 'Projects point projected on v, v.orthogonal()' |
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238 e1 = v/v.norm2() |
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239 e2 = e1.orthogonal(clockwise) |
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240 return Point(Point.dot(self, e1), Point.doc(self, e2)) |
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241 |
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242 def rotate(self, theta): |
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243 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta)) |
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244 |
939
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work in progress
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diff
changeset
|
245 def __mul__(self, alpha): |
573
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|
246 'Warning, returns a new Point' |
105
9844c69d8fa2
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diff
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|
247 return Point(self.x*alpha, self.y*alpha) |
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diff
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|
248 |
623
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249 def divide(self, alpha): |
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250 'Warning, returns a new Point' |
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251 return Point(self.x/alpha, self.y/alpha) |
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252 |
515
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253 def plot(self, options = 'o', **kwargs): |
211 | 254 plot([self.x], [self.y], options, **kwargs) |
41 | 255 |
771 | 256 @staticmethod |
257 def plotSegment(p1, p2, options = 'o', **kwargs): | |
258 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs) | |
259 | |
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260 def angle(self): |
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261 return atan2(self.y, self.x) |
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262 |
38
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263 def norm2Squared(self): |
43
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diff
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264 '''2-norm distance (Euclidean distance)''' |
567
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265 return self.x**2+self.y**2 |
38
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266 |
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267 def norm2(self): |
288
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284
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268 '''2-norm distance (Euclidean distance)''' |
38
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269 return sqrt(self.norm2Squared()) |
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270 |
284
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271 def norm1(self): |
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272 return abs(self.x)+abs(self.y) |
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273 |
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274 def normMax(self): |
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275 return max(abs(self.x),abs(self.y)) |
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276 |
64
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277 def aslist(self): |
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278 return [self.x, self.y] |
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279 |
203
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280 def astuple(self): |
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281 return (self.x, self.y) |
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282 |
223
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283 def asint(self): |
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284 return Point(int(self.x), int(self.y)) |
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285 |
372
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286 if shapelyAvailable: |
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287 def asShapely(self): |
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288 return shapelyPoint(self.x, self.y) |
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289 |
936
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290 def homographyProject(self, homography): |
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291 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography) |
98
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292 return Point(projected[0], projected[1]) |
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293 |
627
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294 def inPolygon(self, polygon): |
372
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295 '''Indicates if the point x, y is inside the polygon |
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296 (array of Nx2 coordinates of the polygon vertices) |
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297 |
92
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diff
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298 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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299 |
372
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300 Use Polygon.contains if Shapely is installed''' |
79
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301 |
372
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302 n = polygon.shape[0]; |
79
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303 counter = 0; |
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304 |
372
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305 p1 = polygon[0,:]; |
79
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306 for i in range(n+1): |
372
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307 p2 = polygon[i % n,:]; |
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308 if self.y > min(p1[1],p2[1]): |
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309 if self.y <= max(p1[1],p2[1]): |
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310 if self.x <= max(p1[0],p2[0]): |
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311 if p1[1] != p2[1]: |
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312 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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313 if p1[0] == p2[0] or self.x <= xinters: |
79
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314 counter+=1; |
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315 p1=p2 |
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316 return (counter%2 == 1); |
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317 |
49 | 318 @staticmethod |
573
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fixed and simplified getSYfromXY
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319 def fromList(p): |
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diff
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|
320 return Point(p[0], p[1]) |
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|
321 |
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fixed and simplified getSYfromXY
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diff
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|
322 @staticmethod |
67
ded58c424783
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diff
changeset
|
323 def dot(p1, p2): |
89
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diff
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|
324 'Scalar product' |
67
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diff
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|
325 return p1.x*p2.x+p1.y*p2.y |
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diff
changeset
|
326 |
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diff
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|
327 @staticmethod |
90
f84293ad4611
renamed inner to cross product
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diff
changeset
|
328 def cross(p1, p2): |
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diff
changeset
|
329 'Cross product' |
89
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changeset
|
330 return p1.x*p2.y-p1.y*p2.x |
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changeset
|
331 |
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diff
changeset
|
332 @staticmethod |
987
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diff
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|
333 def parallel(p1, p2): |
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|
334 return Point.cross(p1, p2) == 0. |
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335 |
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changeset
|
336 @staticmethod |
378
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|
337 def cosine(p1, p2): |
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338 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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|
339 |
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diff
changeset
|
340 @staticmethod |
38
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diff
changeset
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341 def distanceNorm2(p1, p2): |
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|
342 return (p1-p2).norm2() |
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changeset
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343 |
64
c75bcdaed00f
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diff
changeset
|
344 @staticmethod |
357
e5fe0e6d48a1
corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
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diff
changeset
|
345 def plotAll(points, **kwargs): |
64
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diff
changeset
|
346 from matplotlib.pyplot import scatter |
357
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345
diff
changeset
|
347 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
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diff
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|
348 |
378
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changeset
|
349 def similarOrientation(self, refDirection, cosineThreshold): |
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|
350 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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changeset
|
351 return Point.cosine(self, refDirection) >= cosineThreshold |
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352 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
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diff
changeset
|
353 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
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464
diff
changeset
|
354 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
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diff
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|
355 '''Computes exact time to collision with a distance threshold |
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356 The unknown of the equation is the time to reach the intersection |
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357 between the relative trajectory of one road user |
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changeset
|
358 and the circle of radius collisionThreshold around the other road user''' |
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changeset
|
359 dv = v1-v2 |
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|
360 dp = p1-p2 |
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changeset
|
361 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
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515
diff
changeset
|
362 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
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diff
changeset
|
363 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
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451
diff
changeset
|
364 |
504
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diff
changeset
|
365 delta = b**2 - 4*a*c |
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parents:
501
diff
changeset
|
366 if delta >= 0: |
a40c75f04903
optimized direct time to collision computation and added tests
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diff
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|
367 deltaRoot = sqrt(delta) |
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optimized direct time to collision computation and added tests
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parents:
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diff
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|
368 ttc1 = (-b + deltaRoot)/(2*a) |
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optimized direct time to collision computation and added tests
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diff
changeset
|
369 ttc2 = (-b - deltaRoot)/(2*a) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
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parents:
451
diff
changeset
|
370 if ttc1 >= 0 and ttc2 >= 0: |
881
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work on storing PET
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parents:
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diff
changeset
|
371 return 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
|
372 elif ttc1 >= 0: |
881
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work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
373 return ttc1 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
374 elif ttc2 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
375 return ttc2 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
376 else: # ttc1 < 0 and ttc2 < 0: |
881
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work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
377 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
378 else: |
881
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work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
379 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
380 |
583
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
381 @staticmethod |
6ebfb43e938e
added midpoint function (from laurent gauthier)
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diff
changeset
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382 def midPoint(p1, p2): |
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added midpoint function (from laurent gauthier)
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383 'Returns the middle of the segment [p1, p2]' |
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added midpoint function (from laurent gauthier)
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parents:
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384 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
385 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
386 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
|
387 def pointsInPolygon(points, polygon): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
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388 '''Optimized tests of a series of points within (Shapely) polygon (not prepared)''' |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
389 if type(polygon) == PreparedGeometry: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
390 prepared_polygon = polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
391 else: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
392 prepared_polygon = prep(polygon) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
393 return list(filter(prepared_polygon.contains, points)) |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
394 |
567
072cedc3f33d
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diff
changeset
|
395 # Functions for coordinate transformation |
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diff
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396 # From Paul St-Aubin's PVA tools |
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diff
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397 def subsec_spline_dist(splines): |
072cedc3f33d
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398 ''' Prepare list of spline subsegments from a spline list. |
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|
399 |
072cedc3f33d
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562
diff
changeset
|
400 Output: |
072cedc3f33d
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parents:
562
diff
changeset
|
401 ======= |
072cedc3f33d
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diff
changeset
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402 ss_spline_d[spline #][mode][station] |
072cedc3f33d
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562
diff
changeset
|
403 |
072cedc3f33d
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parents:
562
diff
changeset
|
404 where: |
072cedc3f33d
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parents:
562
diff
changeset
|
405 mode=0: incremental distance |
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diff
changeset
|
406 mode=1: cumulative distance |
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diff
changeset
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407 mode=2: cumulative distance with trailing distance |
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diff
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|
408 ''' |
072cedc3f33d
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409 ss_spline_d = [] |
072cedc3f33d
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diff
changeset
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410 #Prepare subsegment distances |
072cedc3f33d
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parents:
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diff
changeset
|
411 for spline in range(len(splines)): |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
412 ss_spline_d[spline]=[]#.append([[],[],[]]) |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
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parents:
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diff
changeset
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413 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Incremental distance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
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parents:
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diff
changeset
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414 ss_spline_d[spline].append(zeros(len(splines[spline])-1)) #Cumulative distance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
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parents:
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diff
changeset
|
415 ss_spline_d[spline].append(zeros(len(splines[spline]))) #Cumulative distance with trailing distance |
567
072cedc3f33d
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parents:
562
diff
changeset
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416 for spline_p in range(len(splines[spline])): |
072cedc3f33d
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parents:
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diff
changeset
|
417 if spline_p > (len(splines[spline]) - 2): |
072cedc3f33d
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parents:
562
diff
changeset
|
418 break |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
419 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
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parents:
562
diff
changeset
|
420 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
|
421 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
|
422 |
072cedc3f33d
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parents:
562
diff
changeset
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423 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1] |
072cedc3f33d
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parents:
562
diff
changeset
|
424 |
072cedc3f33d
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parents:
562
diff
changeset
|
425 return ss_spline_d |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
426 |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
427 def prepareSplines(splines): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
428 'Approximates slope singularity by giving some slope roundoff; account for roundoff error' |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
429 for spline in splines: |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
430 p1 = spline[0] |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
431 for i in range(len(spline)-1): |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
432 p2 = spline[i+1] |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
433 if(round(p1.x, 10) == round(p2.x, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
434 p2.x += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
435 if(round(p1.y, 10) == round(p2.y, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
436 p2.y += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
437 p1 = p2 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
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parents:
776
diff
changeset
|
438 |
567
072cedc3f33d
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parents:
562
diff
changeset
|
439 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
072cedc3f33d
first integration of curvilinear transformation from Paul
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parents:
562
diff
changeset
|
440 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
072cedc3f33d
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parents:
562
diff
changeset
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441 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
072cedc3f33d
first integration of curvilinear transformation from Paul
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diff
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442 ''' |
072cedc3f33d
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parents:
562
diff
changeset
|
443 if(p0x == p1x and p0y == p1y): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
444 return None |
567
072cedc3f33d
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parents:
562
diff
changeset
|
445 try: |
072cedc3f33d
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parents:
562
diff
changeset
|
446 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
447 # if(round(p0x, 10) == round(p1x, 10)): |
1b22d81ef5ff
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parents:
776
diff
changeset
|
448 # p1x += 0.0000000001 |
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cleaned and checked storage with functions for curvilinear trajectories
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parents:
776
diff
changeset
|
449 # if(round(p0y, 10) == round(p1y, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
450 # p1y += 0.0000000001 |
567
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562
diff
changeset
|
451 #make the calculation |
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parents:
562
diff
changeset
|
452 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)) |
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parents:
562
diff
changeset
|
453 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
072cedc3f33d
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diff
changeset
|
454 except ZeroDivisionError: |
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parents:
562
diff
changeset
|
455 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
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diff
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456 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
072cedc3f33d
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diff
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457 import pdb; pdb.set_trace() |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
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458 return Point(X,Y) |
567
072cedc3f33d
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562
diff
changeset
|
459 |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
460 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5): |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
461 ''' Snap a point p to its nearest subsegment of it's nearest spline (from the list splines). |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
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parents:
776
diff
changeset
|
462 A spline is a list of points (class Point), most likely a trajectory. |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
463 |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
464 Output: |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
465 ======= |
784298512b60
minor modifications
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parents:
653
diff
changeset
|
466 [spline index, |
784298512b60
minor modifications
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parents:
653
diff
changeset
|
467 subsegment leading point index, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
468 snapped point, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
469 subsegment distance, |
784298512b60
minor modifications
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parents:
653
diff
changeset
|
470 spline distance, |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
471 orthogonal point offset] |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
472 |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
473 or None |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
474 ''' |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
475 minOffsetY = float('inf') |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
476 #For each spline |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
477 for splineIdx in range(len(splines)): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
478 #For each spline point index |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
479 for spline_p in range(len(splines[splineIdx])-1): |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
480 #Get closest point on spline |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
481 closestPoint = ppldb2p(p.x,p.y,splines[splineIdx][spline_p][0],splines[splineIdx][spline_p][1],splines[splineIdx][spline_p+1][0],splines[splineIdx][spline_p+1][1]) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
482 if closestPoint is None: |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
483 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(splineIdx, spline_p)) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
484 return None |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
485 # check if the projected point is in between the current segment of the alignment bounds |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
486 if utils.inBetween(splines[splineIdx][spline_p][0], splines[splineIdx][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[splineIdx][spline_p][1], splines[splineIdx][spline_p+1][1], closestPoint.y): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
487 offsetY = Point.distanceNorm2(closestPoint, p) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
488 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
489 minOffsetY = offsetY |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
490 snappedSplineIdx = splineIdx |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
491 snappedSplineLeadingPoint = spline_p |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
492 snappedPoint = Point(closestPoint.x, closestPoint.y) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
493 #Jump loop if significantly close |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
494 if offsetY < goodEnoughSplineDistance: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
495 break |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
496 |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
497 #Get sub-segment distance |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
498 if minOffsetY != float('inf'): |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
499 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSplineIdx][snappedSplineLeadingPoint]) |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
500 #Get cumulative alignment distance (total segment distance) |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
501 splineDistanceS = splines[snappedSplineIdx].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
502 orthogonalSplineVector = (splines[snappedSplineIdx][snappedSplineLeadingPoint+1]-splines[snappedSplineIdx][snappedSplineLeadingPoint]).orthogonal() |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
503 offsetVector = p-snappedPoint |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
504 if Point.dot(orthogonalSplineVector, offsetVector) < 0: |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
505 minOffsetY = -minOffsetY |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
506 return [snappedSplineIdx, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY] |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
507 else: |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
508 print('Offset for point {} is infinite (check with prepareSplines if some spline segments are aligned with axes)'.format(p)) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
509 return None |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
510 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
511 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
|
512 ''' Find X,Y coordinate from S,Y data. |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
513 if mode = 0 : return Snapped X,Y |
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
514 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
|
515 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
516 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
517 #(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
|
518 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
|
519 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
520 #Find subsegment |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
521 snapped_x = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
522 snapped_y = None |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
523 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
|
524 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
|
525 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
|
526 #Get normal vector and then snap |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
527 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
|
528 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
|
529 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
|
530 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
|
531 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
|
532 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
|
533 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
|
534 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
535 #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
|
536 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
|
537 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
|
538 break |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
539 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
540 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
|
541 if(not snapped_x): |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
542 snapped_x = splines[splineNum][-1][0] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
543 snapped_y = splines[splineNum][-1][1] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
544 return [snapped_x,snapped_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
545 else: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
546 return [real_x,real_y] |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
547 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
548 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
549 class NormAngle(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
550 '''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
|
551 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
552 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
|
553 self.norm = norm |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
554 self.angle = angle |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
555 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
556 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
557 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
558 norm = p.norm2() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
559 if norm > 0: |
945
05d4302bf67e
working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
943
diff
changeset
|
560 angle = p.angle() |
339 | 561 else: |
562 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
563 return NormAngle(norm, angle) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
564 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
565 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
566 '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
|
567 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
|
568 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
569 def getPoint(self): |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
570 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
|
571 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
572 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
573 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
|
574 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
575 return initialVelocity + initialAcceleration.__mul__(nTimeSteps),initialPosition+initialVelocity.__mul__(nTimeSteps) + initialAcceleration.__mul__(nTimeSteps**2*0.5) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
576 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
577 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
|
578 '''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
|
579 speedOrientation is the other encoding of velocity, (speed, orientation) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
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diff
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|
580 speedOrientation and control are NormAngle''' |
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diff
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|
581 predictedSpeedTheta = speedOrientation+control |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
582 if maxSpeed is not None: |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
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parents:
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diff
changeset
|
583 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
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parents:
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diff
changeset
|
584 predictedPosition = position+predictedSpeedTheta.getPoint() |
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modified prediction functions, added norm/angle representation of Points
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parents:
249
diff
changeset
|
585 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
586 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
587 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
588 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
589 '''Class to represent 4-D flow vectors, |
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initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
590 ie a position and a velocity''' |
d70e9b36889c
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diff
changeset
|
591 def __init__(self, position, velocity): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
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diff
changeset
|
592 'position and velocity should be Point instances' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
593 self.position = position |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
594 self.velocity = velocity |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
595 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
596 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
597 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
598 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
599 def __mul__(self, alpha): |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
600 return FlowVector(self.position.__mul__(alpha), self.velocity.__mul__(alpha)) |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
601 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
602 def plot(self, options = '', **kwargs): |
211 | 603 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
|
604 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
|
605 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
606 @staticmethod |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
607 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
|
608 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
|
609 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
610 def intersection(p1, p2, p3, p4): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
611 ''' 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
|
612 http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
613 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
614 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
615 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y) |
674
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
616 det = float(dp34.y*dp12.x-dp34.x*dp12.y) |
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
617 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
|
618 return None |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
619 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
620 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
621 return p1+dp12.__mul__(ua) |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
622 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
623 # def intersection(p1, p2, dp1, dp2): |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
624 # '''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
|
625 # 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
|
626 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
627 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
628 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
629 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
630 # 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
|
631 # [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
|
632 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
633 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
634 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
635 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
636 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
637 # 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
|
638 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
639 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
|
640 '''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
|
641 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
642 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
|
643 return None |
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
644 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
645 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
646 if (inter is not None |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
647 and utils.inBetween(p1.x, p2.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
648 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
|
649 and utils.inBetween(p1.y, p2.y, inter.y) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
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parents:
357
diff
changeset
|
650 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
|
651 return inter |
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implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
652 else: |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
653 return None |
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
654 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
655 def segmentLineIntersection(p1, p2, p3, p4): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
656 '''Indicates if the line going through p1 and p2 intersects inside p3, p4''' |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
657 inter = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
658 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y): |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
659 return inter |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
660 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
661 return None |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
662 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
663 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
664 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
665 '''Class for trajectories: temporal sequence of positions |
22 | 666 |
288
e0d41c7f53d4
updated class/method descriptions
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parents:
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diff
changeset
|
667 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
668 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
669 def __init__(self, positions=None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
670 if positions is not None: |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
671 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
108
diff
changeset
|
672 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
108
diff
changeset
|
673 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
674 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
675 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
676 def generate(p, v, nPoints): |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
677 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
678 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
|
679 t.addPosition(p0) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
680 for i in range(nPoints-1): |
555
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
681 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
682 t.addPosition(p0) |
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added static methods to create trajectories and moving objects
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parents:
552
diff
changeset
|
683 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
|
684 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
685 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
686 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
687 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
|
688 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
689 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
690 @staticmethod |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
691 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
692 t = Trajectory() |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
693 if isinstance(points[0], list) or isinstance(points[0], tuple): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
694 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
695 t.addPositionXY(p[0],p[1]) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
696 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
697 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
698 t.addPosition(p) |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
699 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
700 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
701 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
702 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
703 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
704 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
705 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
706 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
707 def empty(self): |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
708 return self.__len__() == 0 |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
709 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
710 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
|
711 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
|
712 return Point(self.positions[0][i], self.positions[1][i]) |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
713 elif isinstance(i, slice): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
714 return Trajectory([self.positions[0][i],self.positions[1][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
|
715 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
716 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
717 |
16 | 718 def __str__(self): |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
719 return ' '.join([self.__getitem__(i).__str__() for i in range(self.length())]) |
16 | 720 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
721 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
|
722 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
723 |
22 | 724 def __iter__(self): |
725 self.iterInstantNum = 0 | |
726 return self | |
727 | |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
728 def __next__(self): |
22 | 729 if self.iterInstantNum >= self.length(): |
730 raise StopIteration | |
731 else: | |
732 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
733 return self[self.iterInstantNum-1] |
22 | 734 |
776
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
735 def __eq__(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
736 if self.length() == other.length(): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
737 result = True |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
738 for p, po in zip(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
739 result = result and (p == po) |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
740 return result |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
741 else: |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
742 return False |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
743 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
744 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
745 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
746 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
747 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
748 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
749 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
750 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
751 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
752 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
|
753 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
754 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
755 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
756 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
|
757 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
|
758 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
759 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
760 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
|
761 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
|
762 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
763 @staticmethod |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
764 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, objNum = None, **kwargs): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
765 if lastCoordinate is None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
766 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
|
767 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
768 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
|
769 if withOrigin: |
211 | 770 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
771 if objNum is not None: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
772 text(positions[0][0], positions[1][0], '{}'.format(objNum)) |
933
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
773 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
774 def homographyProject(self, homography): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
775 return Trajectory(cvutils.homographyProject(array(self.positions), homography).tolist()) |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
776 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
777 def newCameraProject(self, newCameraMatrix): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
778 return Trajectory(cvutils.newCameraProject(array(self.positions), newCameraMatrix).tolist()) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
779 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
780 def plot(self, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
781 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
782 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
783 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
784 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, objNum, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
785 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
786 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
787 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
620
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
788 [x*nPixelsPerUnitDistance for x in self.positions[1]]] |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
789 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, objNum, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
790 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
791 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
792 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
793 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
794 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
795 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
|
796 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
797 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
|
798 return array(self.positions) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
799 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
800 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
801 # 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
|
802 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
803 |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
804 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
805 # 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
|
806 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
807 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
808 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
809 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
810 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
811 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
812 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
813 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
814 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
|
815 [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
|
816 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
817 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
818 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
819 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
820 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
821 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
822 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
823 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
|
824 [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
|
825 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
826 def __mul__(self, alpha): |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
827 '''Returns a new trajectory of the same length''' |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
828 return Trajectory([[alpha*x for x in self.getXCoordinates()], |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
829 [alpha*y for y in self.getYCoordinates()]]) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
830 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
831 def differentiate(self, doubleLastPosition = False): |
339 | 832 diff = Trajectory() |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
833 for i in range(1, self.length()): |
339 | 834 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
|
835 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
836 diff.addPosition(diff[-1]) |
339 | 837 return diff |
838 | |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
839 def differentiateSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='interp', cval=0.0, nInstantsIgnoredAtEnds = 2): |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
840 '''Differentiates the trajectory using the Savitsky Golay filter |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
841 |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
842 window_length : The length of the filter window (i.e. the number of coefficients). window_length must be a positive odd integer. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
843 polyorder : The order of the polynomial used to fit the samples. polyorder must be less than window_length. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
844 deriv : The order of the derivative to compute. This must be a nonnegative integer. The default is 0, which means to filter the data without differentiating. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
845 delta : The spacing of the samples to which the filter will be applied. This is only used if deriv > 0. Default is 1.0. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
846 axis : The axis of the array x along which the filter is to be applied. Default is -1. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
847 mode : Must be mirror, constant, nearest, wrap or interp. This determines the type of extension to use for the padded signal to which the filter is applied. When mode is constant, the padding value is given by cval. See the Notes for more details on mirror, constant, wrap, and nearest. When the interp mode is selected (the default), no extension is used. Instead, a degree polyorder polynomial is fit to the last window_length values of the edges, and this polynomial is used to evaluate the last window_length // 2 output values. |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
848 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0. |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
849 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
850 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter''' |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
851 if removeBothEnds >=1: |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
852 pos = [self.positions[0][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds], |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
853 self.positions[1][nInstantsIgnoredAtEnds:-nInstantsIgnoredAtEnds]] |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
854 else: |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
855 pos = self.positions |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
856 filtered = savgol_filter(pos, window_length, polyorder, deriv, delta, axis, mode, cval) |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
857 return Trajectory(filtered) |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
858 |
16 | 859 def norm(self): |
860 '''Returns the list of the norms at each instant''' | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
861 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
862 |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
863 def computeCumulativeDistances(self): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
864 '''Computes the distance from each point to the next and the cumulative distance up to the point |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
865 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
866 self.distances = [] |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
867 self.cumulativeDistances = [0.] |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
868 p1 = self[0] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
869 cumulativeDistance = 0. |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
870 for i in range(self.length()-1): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
871 p2 = self[i+1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
872 self.distances.append(Point.distanceNorm2(p1,p2)) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
873 cumulativeDistance += self.distances[-1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
874 self.cumulativeDistances.append(cumulativeDistance) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
875 p1 = p2 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
876 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
877 def getDistance(self,i): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
878 '''Return the distance between points i and i+1''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
879 if i < self.length()-1: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
880 return self.distances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
881 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
882 print('Index {} beyond trajectory length {}-1'.format(i, self.length())) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
883 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
884 def getCumulativeDistance(self, i): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
885 '''Return the cumulative distance between the beginning and point i''' |
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
886 if i < self.length(): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
887 return self.cumulativeDistances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
888 else: |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
889 print('Index {} beyond trajectory length {}'.format(i, self.length())) |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
890 |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
891 def getMaxDistance(self, metric): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
892 'Returns the maximum distance between points in the trajectory' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
893 positions = self.getPositions().asArray().T |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
894 return cdist(positions, positions, metric = metric).max() |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
895 |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
896 def getClosestPoint(self, p1, maxDist2 = None): |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
897 '''Returns the instant of the closest position in trajectory to p1 (and the point) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
898 if maxDist is not None, will check the distance is smaller |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
899 TODO: could use cdist for different metrics''' |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
900 distances2 = [] |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
901 minDist2 = float('inf') |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
902 i = -1 |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
903 for p2 in self: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
904 distances2.append(Point.distanceNorm2(p1, p2)) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
905 if distances2[-1] < minDist2: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
906 minDist2 = distances2[-1] |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
907 i = len(distances2)-1 |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
908 if maxDist2 is not None and minDist2 < maxDist2: |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
909 return None |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
910 else: |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
911 return i |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
912 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
913 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
914 '''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
|
915 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
|
916 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
917 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
918 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
919 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
920 count += 1 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
921 return count >= lengthThreshold |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
922 |
49 | 923 def wiggliness(self): |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
924 straightDistance = Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
925 if straightDistance > 0: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
926 return self.getCumulativeDistance(self.length()-1)/float(straightDistance) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
927 else: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
928 return None |
49 | 929 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
930 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
931 '''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
|
932 intersects with the segment of extremities p1 and p2 |
771 | 933 Returns an empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
934 indices = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
935 intersections = [] |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
936 |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
937 for i in range(self.length()-1): |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
938 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
939 q2=self.__getitem__(i+1) |
771 | 940 p = segmentIntersection(q1, q2, p1, p2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
941 if p is not None: |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
942 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
943 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
944 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
945 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
946 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
947 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
948 indices.append(i+ratio) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
949 intersections.append(p) |
771 | 950 return indices, intersections |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
951 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
952 def getLineIntersections(self, p1, p2): |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
953 '''Returns a list of the indices at which the trajectory |
771 | 954 intersects with the line going through p1 and p2 |
955 Returns an empty list if there is no crossing''' | |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
956 indices = [] |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
957 intersections = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
958 |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
959 for i in range(self.length()-1): |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
960 q1=self.__getitem__(i) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
961 q2=self.__getitem__(i+1) |
771 | 962 p = segmentLineIntersection(p1, p2, q1, q2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
963 if p is not None: |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
964 if q1.x != q2.x: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
965 ratio = (p.x-q1.x)/(q2.x-q1.x) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
966 elif q1.y != q2.y: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
967 ratio = (p.y-q1.y)/(q2.y-q1.y) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
968 else: |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
969 ratio = 0 |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
970 indices.append(i+ratio) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
971 intersections.append(p) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
972 return indices, intersections |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
973 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
974 def getTrajectoryInInterval(self, inter): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
975 'Returns all position between index inter.first and index.last (included)' |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
976 if inter.first >=0 and inter.last<= self.length(): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
977 return Trajectory([self.positions[0][inter.first:inter.last+1], |
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
978 self.positions[1][inter.first:inter.last+1]]) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
979 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
980 return None |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
981 |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
982 def subSample(self, step): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
983 'Returns the positions very step' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
984 return Trajectory([self.positions[0][::step], |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
985 self.positions[1][::step]]) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
986 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
987 if shapelyAvailable: |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
988 def getInstantsInPolygon(self, polygon): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
989 '''Returns the list of instants at which the trajectory is in the polygon''' |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
990 instants = [] |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
991 n = self.length() |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
992 for t, x, y in zip(range(n), self.positions[0], self.positions[1]): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
993 if polygon.contains(shapelyPoint(x, y)): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
994 instants.append(t) |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
995 return instants |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
996 |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
997 def getTrajectoryInPolygon(self, polygon, t2 = None): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
998 '''Returns the trajectory built with the set of points inside the (shapely) polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
999 The polygon could be a prepared polygon (faster) from prepared.prep |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1000 |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1001 t2 is another trajectory (could be velocities) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1002 which is filtered based on the first (self) 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
|
1003 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1004 inPolygon = [] |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1005 for x, y in zip(self.positions[0], self.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1006 inPolygon.append(polygon.contains(shapelyPoint(x, y))) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1007 if inPolygon[-1]: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1008 traj.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1009 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1010 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1011 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1012 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1013 traj2.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1014 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1015 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1016 def proportionInPolygon(self, polygon, minProportion = 0.5): |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1017 instants = self.getInstantsInPolygon(polygon) |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1018 lengthThreshold = float(self.length())*minProportion |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1019 return len(instants) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1020 else: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1021 def getTrajectoryInPolygon(self, polygon, t2 = None): |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1022 '''Returns the trajectory built with the set of points inside the polygon |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1023 (array of Nx2 coordinates of the polygon vertices)''' |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1024 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1025 inPolygon = [] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1026 for p in self: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1027 inPolygon.append(p.inPolygon(polygon)) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1028 if inPolygon[-1]: |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1029 traj.addPosition(p) |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1030 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1031 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1032 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1033 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1034 traj2.addPositionXY(p.x, p.y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1035 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1036 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1037 def proportionInPolygon(self, polygon, minProportion = 0.5): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1038 inPolygon = [p.inPolygon(polygon) for p in self] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1039 lengthThreshold = float(self.length())*minProportion |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1040 return sum(inPolygon) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1041 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1042 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1043 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1044 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1045 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1046 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1047 '''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
|
1048 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
|
1049 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
|
1050 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1051 def __init__(self, S = None, Y = None, lanes = None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1052 if S is None or Y is None or len(S) != len(Y): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1053 self.positions = [[],[]] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1054 if S is not None and Y is not None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
1055 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
|
1056 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1057 self.positions = [S,Y] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1058 if lanes is None or len(lanes) != self.length(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1059 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
|
1060 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1061 self.lanes = lanes |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1062 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1063 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
|
1064 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
|
1065 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
|
1066 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
1067 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1068 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1069 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1070 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1071 return self.getXCoordinates() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1072 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1073 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1074 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1075 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1076 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
|
1077 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1078 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1079 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1080 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
|
1081 '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
|
1082 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
|
1083 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1084 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
|
1085 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1086 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1087 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1088 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1089 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
|
1090 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1091 p1 = self[0] |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1092 for i in range(1, self.length()): |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1093 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
|
1094 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
|
1095 p1=p2 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
1096 if doubleLastPosition and self.length() > 1: |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1097 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
|
1098 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1099 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1100 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1101 '''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
|
1102 goes past the curvilinear coordinate S1 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1103 (in provided lane if lane is not None) |
771 | 1104 Returns an empty list if there is no crossing''' |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1105 indices = [] |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1106 for i in range(self.length()-1): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1107 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1108 q2=self.__getitem__(i+1) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1109 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1110 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
|
1111 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1112 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1113 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1114 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1115 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1116 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1117 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
|
1118 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1119 '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
|
1120 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1121 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1122 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1123 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1124 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1125 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1126 |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1127 class CarClassifier: |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1128 def predict(self, hog): |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1129 return userType2Num['car'] |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1130 carClassifier = CarClassifier() |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1131 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
663
diff
changeset
|
1132 class MovingObject(STObject, VideoFilenameAddable): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
1133 '''Class for moving objects: a spatio-temporal object |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1134 with a trajectory and a geometry (constant volume over time) |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1135 and a usertype (e.g. road user) coded as a number (see userTypeNames) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1136 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1137 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
1138 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
|
1139 super(MovingObject, self).__init__(num, timeInterval) |
16 | 1140 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1141 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1142 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1143 self.userType = userType |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1144 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1145 # compute bounding polygon from trajectory |
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
1146 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1147 @staticmethod |
996
add667153087
updated feature tracker to opencv 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
995
diff
changeset
|
1148 def aggregateTrajectory(features, aggFunc = mean): |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1149 'Computes the aggregate trajectory from list of MovingObject features' |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1150 return None |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1151 |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1152 @staticmethod |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
1153 def generate(num, p, v, timeInterval): |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1154 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length())) |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
1155 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = velocities) |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1156 |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1157 @staticmethod |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1158 def concatenate(obj1, obj2, num = None, computePositions = False): |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1159 '''Concatenates two objects supposed to overlap temporally ''' |
997
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1160 if num is None: |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1161 newNum = obj1.getNum() |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1162 else: |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1163 newNum = num |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1164 commonTimeInterval = obj1.commonTimeInterval(obj2) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1165 if commonTimeInterval.empty(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1166 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval())) |
994
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1167 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()) , max(obj1.getFirstInstant(),obj2.getFirstInstant())) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1168 positions = Trajectory() |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1169 if obj1.existsAtInstant(emptyInterval.last): |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1170 vitessex=(obj1.getPositionAtInstant(emptyInterval.last).x-obj2.getPositionAtInstant(emptyInterval.first).x)/(emptyInterval.last-emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1171 vitessey=(obj1.getPositionAtInstant(emptyInterval.last).y-obj2.getPositionAtInstant(emptyInterval.first).y)/(emptyInterval.last-emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1172 px,py=obj2.getPositionAtInstant(emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1173 else : |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1174 vitessex=(obj2.getPositionAtInstant(emptyInterval.last).x-obj1.getPositionAtInstant(emptyInterval.first).x)/(emptyInterval.last-emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1175 vitessey=(obj2.getPositionAtInstant(emptyInterval.last).y-obj1.getPositionAtInstant(emptyInterval.first).y)/(emptyInterval.last-emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1176 px,py=obj1.getPositionAtInstant(emptyInterval.first) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1177 positions = Trajectory() |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1178 velocities = Trajectory() |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1179 for t in emptyInterval: |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1180 positions.addPositionXY(px,py) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1181 velocities.addPositionXY(vitessex,vitessey) |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1182 px+=vitessex |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1183 py+=vitessey |
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1184 |
997
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1185 newObject = MovingObject(newNum, emptyInterval, positions, velocities, userType = obj1.getUserType()) |
994
8118c6b77d7c
update for objects that do not co-exist (work by https://bitbucket.org/Wendlasida/)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
993
diff
changeset
|
1186 return MovingObject.concatenate(MovingObject.concatenate(obj1, newObject),obj2) |
997
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1187 |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1188 else: |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1189 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval()) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1190 # positions |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1191 if computePositions: # TODO it would probably be better to recompute from all features, if features are available, in other method |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1192 positions = Trajectory() |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1193 for t in newTimeInterval: |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1194 nTotal = 0. |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1195 p = Point(0.,0.) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1196 for obj in [obj1, obj2]: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1197 if obj.existsAtInstant(t): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1198 if obj.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1199 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1200 else: |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1201 n = 1. |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1202 p += obj.getPositionAtInstant(t).__mul__(n) |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1203 nTotal += n |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1204 assert nTotal>0, 'there should be at least one point for each instant' |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1205 positions.addPosition(p.divide(nTotal)) |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1206 # velocities: if any |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1207 if obj1.getVelocities() is not None and obj2.getVelocities() is not None: |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1208 velocities = Trajectory() |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1209 for t in newTimeInterval: |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1210 nTotal = 0. |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1211 p = Point(0.,0.) |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1212 for obj in [obj1, obj2]: |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1213 if obj.existsAtInstant(t): |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1214 if obj.hasFeatures(): |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1215 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)]) |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1216 else: |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1217 n = 1. |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1218 p += obj.getVelocityAtInstant(t).__mul__(n) |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1219 nTotal += n |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1220 assert n>0, 'there should be at least one point for each instant' |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1221 velocities.addPosition(p.divide(nTotal)) |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1222 else: |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1223 velocities = None |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1224 else: |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1225 positions = None |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1226 velocities = None |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1227 # TODO object envelop (polygon) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1228 # user type |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1229 if obj1.getUserType() != obj2.getUserType(): |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1230 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()])) |
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1231 |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1232 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType()) |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1233 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'): |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1234 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers |
663
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1235 if obj1.hasFeatures() and obj2.hasFeatures(): |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1236 newObject.features = obj1.getFeatures()+obj2.getFeatures() |
65a867942eee
modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
1237 return newObject |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1238 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1239 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1240 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1241 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
|
1242 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
|
1243 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1244 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
|
1245 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
982
51d8406b2489
corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
978
diff
changeset
|
1246 if self.velocities is not None: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1247 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1248 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1249 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
1250 print('The object does not exist at {}'.format(inter)) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1251 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1252 |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1253 def getObjectsInMask(self, mask, homography = None, minLength = 1): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1254 '''Returns new objects made of the positions in the mask |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1255 mask is in the destination of the homography space''' |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1256 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1257 self.projectedPositions = self.positions.homographyProject(homography) |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1258 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1259 self.projectedPositions = self.positions |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1260 def inMask(positions, i, mask): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1261 p = positions[i] |
982
51d8406b2489
corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
978
diff
changeset
|
1262 return mask[int(p.y), int(p.x)] != 0. |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1263 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1264 #subTimeIntervals self.getFirstInstant()+i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1265 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1266 # 'connected components' in subTimeIntervals |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1267 l = 0 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1268 intervalLabels = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1269 prev = True |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1270 for i in filteredIndices: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1271 if i: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1272 if not prev: # new interval |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1273 l += 1 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1274 intervalLabels.append(l) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1275 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1276 intervalLabels.append(-1) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1277 prev = i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1278 intervalLabels = array(intervalLabels) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1279 subObjects = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1280 for l in set(intervalLabels): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1281 if l >= 0: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1282 if sum(intervalLabels == l) >= minLength: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1283 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1284 subTimeInterval = TimeInterval(min(times), max(times)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1285 subObjects.append(self.getObjectInTimeInterval(subTimeInterval)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1286 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1287 return subObjects |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1288 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1289 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1290 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1291 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1292 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1293 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1294 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1295 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
|
1296 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
|
1297 |
943
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1298 def computeCumulativeDistances(self): |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1299 self.positions.computeCumulativeDistances() |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1300 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1301 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1302 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1303 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1304 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1305 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1306 |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1307 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1308 if hasattr(self, 'curvilinearPositions'): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1309 if lane is None: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1310 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1311 if withOrigin: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1312 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1313 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1314 instants = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1315 coords = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1316 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1317 if p[2] == lane: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1318 instants.append(t) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1319 coords.append(p[0]) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1320 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1321 instants.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1322 coords.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1323 plot(instants, coords, options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1324 if withOrigin and len(instants)>0: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1325 plot([instants[0]], [coords[0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1326 else: |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1327 print('Object {} has no curvilinear positions'.format(self.getNum())) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1328 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1329 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
|
1330 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
|
1331 |
880
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1332 def setFeatures(self, features, featuresOrdered = False): |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1333 '''Sets the features in the features field based on featureNumbers |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1334 if not all features are loaded from 0, one needs to renumber in a dict''' |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1335 if featuresOrdered: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1336 tmp = features |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1337 else: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1338 tmp = {f.getNum():f for f in features} |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1339 self.features = [tmp[i] for i in self.featureNumbers] |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1340 |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1341 def getFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1342 return self.features |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1343 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1344 def hasFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1345 return (self.features is not None) |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1346 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1347 def getFeature(self, i): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1348 if self.hasFeatures() and i<len(self.features): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1349 return self.features[i] |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1350 else: |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1351 return None |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1352 |
869
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1353 def getNLongestFeatures(self, nFeatures = 1): |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1354 if self.features is None: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1355 return [] |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1356 else: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1357 tmp = utils.sortByLength(self.getFeatures(), reverse = True) |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1358 return tmp[:min(len(tmp), nFeatures)] |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1359 |
666
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1360 def getFeatureNumbers(self): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1361 '''Returns the number of features at each instant |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1362 dict instant -> number of features''' |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1363 if self.hasFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1364 featureNumbers = {} |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1365 for t in self.getTimeInterval(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1366 n = 0 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1367 for f in self.getFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1368 if f.existsAtInstant(t): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1369 n += 1 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1370 featureNumbers[t]=n |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1371 return featureNumbers |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1372 else: |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1373 print('Object {} has no features loaded.'.format(self.getNum())) |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1374 return None |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1375 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1376 def getSpeeds(self, nInstantsIgnoredAtEnds = 0): |
682 | 1377 speeds = self.getVelocities().norm() |
1378 if nInstantsIgnoredAtEnds > 0: | |
1379 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.))) | |
1380 return speeds[n:-n] | |
1381 else: | |
1382 return speeds | |
49 | 1383 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1384 def getAccelerations(self, window_length, polyorder, delta=1.0, axis=-1, mode='interp', cval=0.0, speeds = None, nInstantsIgnoredAtEnds = 0): |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1385 '''Returns the 1-D acceleration from the 1-D speeds |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1386 Caution about previously filtered data''' |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1387 if speeds is None: |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1388 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1389 return savgol_filter(speeds, window_length, polyorder, 1, delta, axis, mode, cval) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1390 |
633
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1391 def getSpeedIndicator(self): |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1392 from indicators import SeverityIndicator |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1393 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()}) |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1394 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1395 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1396 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1397 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1398 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1399 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1400 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1401 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1402 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
|
1403 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1404 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1405 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
|
1406 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1407 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1408 return self.positions.getXCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1409 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1410 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1411 return self.positions.getYCoordinates() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1412 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1413 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1414 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1415 objNum = self.getNum() |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1416 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1417 objNum = None |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1418 if withFeatures and self.hasFeatures(): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1419 for f in self.getFeatures(): |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1420 f.positions.plot('r', True, timeStep, **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1421 self.positions.plot('bx-', True, timeStep, objNum, **kwargs) |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1422 else: |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1423 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
1424 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1425 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1426 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1427 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, self.getNum(), **kwargs) |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1428 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1429 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs) |
22 | 1430 |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1431 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.): |
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1432 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication) |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
1433 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1434 def speedDiagnostics(self, framerate = 1., display = False, nInstantsIgnoredAtEnds=0): |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1435 speeds = framerate*self.getSpeeds(nInstantsIgnoredAtEnds) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1436 coef = utils.linearRegression(list(range(len(speeds))), speeds) |
379 | 1437 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 | 1438 if display: |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
1439 from matplotlib.pyplot import figure, axis |
377 | 1440 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1441 self.plot() |
379 | 1442 axis('equal') |
377 | 1443 figure(2) |
1444 plot(list(self.getTimeInterval()), speeds) | |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1445 figure(3) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1446 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter |
377 | 1447 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1448 @staticmethod |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1449 def minMaxDistance(obj1, obj2): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1450 '''Computes the min max distance used for feature grouping''' |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1451 commonTimeInterval = obj1.commonTimeInterval(obj2) |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1452 if not commonTimeInterval.empty(): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1453 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1454 maxDistance = minDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1455 for t in list(commonTimeInterval)[1:]: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1456 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1457 if d<minDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1458 minDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1459 elif d>maxDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1460 maxDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1461 return int(commonTimeInterval.length()), minDistance, maxDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1462 else: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1463 return int(commonTimeInterval.length()), None, None |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1464 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1465 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1466 def distances(obj1, obj2, instant1, _instant2 = None): |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1467 '''Returns the distances between all features of the 2 objects |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1468 at the same instant instant1 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1469 or at instant1 and instant2''' |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1470 if _instant2 is None: |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1471 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1472 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1473 instant2 = _instant2 |
546 | 1474 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1475 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1476 return cdist(positions1, positions2, metric = 'euclidean') | |
1477 | |
1478 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1479 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1480 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1481 |
1482 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1483 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1484 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
|
1485 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1486 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1487 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1488 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
|
1489 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1490 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1491 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1492 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1493 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
|
1494 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1495 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1496 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1497 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1498 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1499 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
|
1500 return None |
619
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
1501 |
550 | 1502 def setRoutes(self, startRouteID, endRouteID): |
1503 self.startRouteID = startRouteID | |
1504 self.endRouteID = endRouteID | |
546 | 1505 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1506 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
|
1507 '''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
|
1508 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
|
1509 empty list if there is no crossing''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1510 indices, intersections = self.positions.getIntersections(p1, p2) |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
1511 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1512 |
949
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1513 def computeTrajectorySimilarities(self, prototypes, lcss): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1514 'Computes the similarities to the prototypes using the LCSS' |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1515 if not hasattr(self, 'prototypeSimilarities'): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1516 self.prototypeSimilarities = [] |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1517 for proto in prototypes: |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1518 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1519 similarities = lcss.similarityTable[-1, :-1].astype(float) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1520 self.prototypeSimilarities.append(similarities/minimum(arange(1.,len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities)))) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1521 |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1522 @staticmethod |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1523 def computePET(obj1, obj2, collisionDistanceThreshold): |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1524 '''Post-encroachment time based on distance threshold |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1525 |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1526 Returns the smallest time difference when the object positions are within collisionDistanceThreshold |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1527 and the instants at which each object is passing through its corresponding position''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1528 positions1 = [p.astuple() for p in obj1.getPositions()] |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1529 positions2 = [p.astuple() for p in obj2.getPositions()] |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1530 n1 = len(positions1) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1531 n2 = len(positions2) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1532 pets = zeros((n1, n2)) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1533 for i,t1 in enumerate(obj1.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1534 for j,t2 in enumerate(obj2.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1535 pets[i,j] = abs(t1-t2) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1536 distances = cdist(positions1, positions2, metric = 'euclidean') |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1537 smallDistances = (distances <= collisionDistanceThreshold) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1538 if smallDistances.any(): |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1539 smallPets = pets[smallDistances] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1540 petIdx = smallPets.argmin() |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1541 distanceIndices = argwhere(smallDistances)[petIdx] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1542 return smallPets[petIdx], obj1.getFirstInstant()+distanceIndices[0], obj2.getFirstInstant()+distanceIndices[1] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1543 else: |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1544 return None, None, None |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1545 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1546 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
|
1547 '''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
|
1548 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1549 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
|
1550 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1551 def projectCurvilinear(self, alignments, ln_mv_av_win=3): |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1552 ''' 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
|
1553 (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
|
1554 curvilinear coordinates using alignment metadata. |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1555 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
|
1556 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1557 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1558 Input: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1559 ====== |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1560 alignments = a list of alignments, where each alignment is a list of |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1561 points (class Point). |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1562 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
|
1563 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
|
1564 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
|
1565 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1566 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1567 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1568 self.curvilinearPositions = CurvilinearTrajectory() |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1569 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1570 #For each point |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1571 for i in range(int(self.length())): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1572 result = getSYfromXY(self.getPositionAt(i), alignments) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1573 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1574 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1575 if(result is None): |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1576 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1577 else: |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1578 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1579 self.curvilinearPositions.addPositionSYL(S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1580 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1581 ## Go back through points and correct lane |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1582 #Run through objects looking for outlier point |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1583 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win) |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1584 ## Recalculate projected point to new lane |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1585 lanes = self.curvilinearPositions.getLanes() |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1586 if(lanes != smoothed_lanes): |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1587 for i in range(len(lanes)): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1588 if(lanes[i] != smoothed_lanes[i]): |
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1589 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]]) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1590 |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1591 # Error handling |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1592 if(result is None): |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1593 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1594 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i))) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
1595 else: |
579
05c927c6d3cf
curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
578
diff
changeset
|
1596 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
1597 self.curvilinearPositions.setPosition(i, S, Y, align) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1598 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1599 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1600 '''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
|
1601 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
|
1602 |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1603 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1604 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1605 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1606 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1607 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1608 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1609 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1610 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1611 for i in range(nFeatures): |
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1612 for j in range(i): |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1613 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1614 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1615 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1616 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1617 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
|
1618 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
|
1619 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
|
1620 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
|
1621 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
|
1622 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1623 |
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
|
1624 ### |
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
|
1625 # 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
|
1626 ### |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1627 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1628 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1629 slow: non-motorized -> pedestrians |
607 | 1630 fast: motorized -> cars |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1631 |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1632 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile: |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1633 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1634 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1635 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1636 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1637 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1638 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1639 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1640 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1641 '''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
|
1642 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
|
1643 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
|
1644 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
|
1645 |
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
|
1646 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
|
1647 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
|
1648 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
|
1649 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
|
1650 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
|
1651 return x''' |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1652 if not hasattr(self, 'aggregatedSpeed'): |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1653 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
581
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1654 userTypeProbabilities = {} |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1655 for userTypename in speedProbabilities: |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1656 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1657 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
|
1658 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
|
1659 |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1660 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0, homography = None, intrinsicCameraMatrix = None, distortionCoefficients = None): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1661 '''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
|
1662 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1663 TODO? compute speed for longest feature?''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1664 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1665 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1666 self.appearanceClassifier = pedBikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1667 elif self.aggregatedSpeed < bikeCarSpeedThreshold: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1668 self.appearanceClassifier = bikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1669 else: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1670 self.appearanceClassifier = carClassifier |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1671 # project feature positions |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1672 if self.hasFeatures(): |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1673 for f in self.getFeatures(): |
935
0e63a918a1ca
updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
933
diff
changeset
|
1674 pp = cvutils.worldToImageProject(f.getPositions().asArray(), intrinsicCameraMatrix, distortionCoefficients, homography).tolist() |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1675 f.positions = Trajectory(pp) |
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
|
1676 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
|
1677 |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1678 def classifyUserTypeHoGSVMAtInstant(self, img, instant, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm): |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1679 '''Extracts the image box around the object |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1680 (of square size max(width, height) of the box around the features, |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1681 with an added px or py for width and height (around the box)) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1682 computes HOG on this cropped image (with parameters rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1683 and applies the SVM model on it''' |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1684 croppedImg = cvutils.imageBox(img, self, instant, width, height, px, py, minNPixels) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
682
diff
changeset
|
1685 if croppedImg is not None and len(croppedImg) > 0: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1686 hog = cvutils.HOG(croppedImg, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm) |
993
e8eabef7857c
update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
987
diff
changeset
|
1687 self.userTypes[instant] = self.appearanceClassifier.predict(hog.reshape(1,hog.size)) |
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
|
1688 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
|
1689 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
|
1690 |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1691 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, maxPercentUnknown = 0.5, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2)): |
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
|
1692 '''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
|
1693 (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
|
1694 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1695 images is a dictionary of images indexed by instant |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1696 With default parameters, the general (ped-bike-car) classifier will be used |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1697 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1698 Considered categories are the keys of speedProbabilities''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1699 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'): |
845 | 1700 print('Initializing the data structures for classification by HoG-SVM') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1701 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1702 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1703 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1704 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
|
1705 if t not in self.userTypes: |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1706 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
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
|
1707 # compute P(Speed|Class) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1708 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1709 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
|
1710 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
|
1711 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1712 # compute P(Class|Appearance) |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1713 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1714 nInstantsUserType[userType2Num['unknown']] = 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
|
1715 for t in self.userTypes: |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1716 nInstantsUserType[self.userTypes[t]] += 1 #nInstantsUserType.get(self.userTypes[t], 0) + 1 |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1717 # result is P(Class|Appearance) x P(Speed|Class) |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1718 if nInstantsUserType[userType2Num['unknown']] < maxPercentUnknown*self.length(): # if not too many unknowns |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1719 for userTypeNum in userTypeProbabilities: |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1720 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum] |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1721 # class is the user type that maximizes usertype probabilities |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1722 if nInstantsUserType[userType2Num['unknown']] >= maxPercentUnknown*self.length() and (speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable): # if no speed information and too many unknowns |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1723 self.setUserType(userType2Num['unknown']) |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1724 else: |
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1725 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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
|
1726 |
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
|
1727 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
|
1728 '''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
|
1729 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
|
1730 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
|
1731 |
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
|
1732 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
|
1733 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
|
1734 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
|
1735 if not hasattr(self, projectedPositions): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1736 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1737 self.projectedPositions = obj.positions.homographyProject(homography) |
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
|
1738 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
|
1739 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
522
diff
changeset
|
1740 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
|
1741 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
|
1742 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
|
1743 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
|
1744 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
|
1745 # 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
|
1746 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1747 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1748 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1749 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1750 '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
|
1751 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
|
1752 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
|
1753 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
|
1754 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1755 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1756 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1757 '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
|
1758 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
|
1759 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
|
1760 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1761 |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1762 class Prototype(object): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1763 'Class for a prototype' |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1764 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1765 def __init__(self, filename, num, trajectoryType, nMatchings = None): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1766 self.filename = filename |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1767 self.num = num |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1768 self.trajectoryType = trajectoryType |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1769 self.nMatchings = nMatchings |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1770 self.movingObject = None |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1771 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1772 def getFilename(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1773 return self.filename |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1774 def getNum(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1775 return self.num |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1776 def getTrajectoryType(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1777 return self.trajectoryType |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1778 def getNMatchings(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1779 return self.nMatchings |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1780 def getMovingObject(self): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1781 return self.movingObject |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1782 def setMovingObject(self, o): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1783 self.movingObject = o |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1784 |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
918
diff
changeset
|
1785 |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1786 ################## |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1787 # Annotations |
587
cf578ba866da
added code to load bounding box corners as trajectories
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diff
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|
1788 ################## |
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1789 |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1790 class BBMovingObject(MovingObject): |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1791 '''Class for a moving object represented as a bounding box |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
762
diff
changeset
|
1792 used for series of ground truth annotations using bounding boxes |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
762
diff
changeset
|
1793 and for the output of Urban Tracker http://www.jpjodoin.com/urbantracker/ |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1794 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1795 By default in image space |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1796 |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1797 Its center is the center of the box (generalize to other shapes?) |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1798 (computed after projecting if homography available) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1799 ''' |
587
cf578ba866da
added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
583
diff
changeset
|
1800 |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1801 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']): |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1802 super(BBMovingObject, self).__init__(num, timeInterval, userType = userType) |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1803 self.topLeftPositions = topLeftPositions.getPositions() |
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
1804 self.bottomRightPositions = bottomRightPositions.getPositions() |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1805 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1806 def computeCentroidTrajectory(self, homography = None): |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
1807 self.positions = self.topLeftPositions.add(self.bottomRightPositions).__mul__(0.5) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1808 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1809 self.positions = self.positions.homographyProject(homography) |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1810 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1811 def matches(self, obj, instant, matchingDistance): |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
1812 '''Indicates if the annotation matches obj (MovingObject) |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
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|
1813 with threshold matchingDistance |
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parents:
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diff
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|
1814 Returns distance if below matchingDistance, matchingDistance+1 otherwise |
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first implementation of CLEAR MOT (needs formal tests)
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parents:
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diff
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|
1815 (returns an actual value, otherwise munkres does not terminate)''' |
592
985a3021cff2
first match table implementation
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parents:
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diff
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|
1816 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant)) |
594
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first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1817 if d < matchingDistance: |
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diff
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|
1818 return d |
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593
diff
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|
1819 else: |
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diff
changeset
|
1820 return matchingDistance + 1 |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1821 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1822 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
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|
1823 '''Computes the CLEAR MOT metrics |
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first implementation of CLEAR MOT (needs formal tests)
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593
diff
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|
1824 |
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diff
changeset
|
1825 Reference: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1826 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008) |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1827 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1828 objects and annotations are supposed to in the same space |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1829 current implementation is BBMovingObject (bounding boxes) |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1830 mathingDistance is threshold on matching between annotation and object |
985a3021cff2
first match table implementation
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parents:
590
diff
changeset
|
1831 |
594
9e39cd95e017
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diff
changeset
|
1832 TO: tracker output (objects) |
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diff
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|
1833 GT: ground truth (annotations) |
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593
diff
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|
1834 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1835 Output: returns motp, mota, mt, mme, fpt, gt |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1836 mt number of missed GT.frames (sum of the number of GT not detected in each frame) |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1837 mme number of mismatches |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1838 fpt number of false alarm.frames (tracker objects without match in each frame) |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1839 gt number of GT.frames |
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1840 |
723
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1841 if returnMatches is True, return as 2 new arguments the GT and TO matches |
e14e2101a5a9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1842 matches is a dict |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1843 matches[i] is the list of matches for GT/TO i |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1844 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1845 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm) |
e14e2101a5a9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
1846 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
1847 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance? |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1848 (add argument useDistanceForWeights = False)''' |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1849 from munkres import Munkres |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
1850 |
594
9e39cd95e017
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parents:
593
diff
changeset
|
1851 munk = Munkres() |
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first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1852 dist = 0. # total distance between GT and TO |
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first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1853 ct = 0 # number of associations between GT and tracker output in each frame |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
diff
changeset
|
1854 gt = 0 # number of GT.frames |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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593
diff
changeset
|
1855 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame) |
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593
diff
changeset
|
1856 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame) |
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first implementation of CLEAR MOT (needs formal tests)
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593
diff
changeset
|
1857 mme = 0 # number of mismatches |
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parents:
593
diff
changeset
|
1858 matches = {} # match[i] is the tracker track associated with GT i (using object references) |
723
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1859 if returnMatches: |
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returns detailed matching information for clear mot
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parents:
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diff
changeset
|
1860 gtMatches = {a.getNum():{} for a in annotations} |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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690
diff
changeset
|
1861 toMatches = {o.getNum():{} for o in objects} |
956
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
1862 else: |
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
1863 gtMatches = None |
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
1864 toMatches = None |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1865 for t in range(firstInstant, lastInstant+1): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
1866 previousMatches = matches.copy() |
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593
diff
changeset
|
1867 # go through currently matched GT-TO and check if they are still matched withing matchingDistance |
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diff
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|
1868 toDelete = [] |
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593
diff
changeset
|
1869 for a in matches: |
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diff
changeset
|
1870 if a.existsAtInstant(t) and matches[a].existsAtInstant(t): |
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diff
changeset
|
1871 d = a.matches(matches[a], t, matchingDistance) |
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diff
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|
1872 if d < matchingDistance: |
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diff
changeset
|
1873 dist += d |
592
985a3021cff2
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diff
changeset
|
1874 else: |
594
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diff
changeset
|
1875 toDelete.append(a) |
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diff
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|
1876 else: |
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diff
changeset
|
1877 toDelete.append(a) |
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diff
changeset
|
1878 for a in toDelete: |
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593
diff
changeset
|
1879 del matches[a] |
593
e2a873e08568
non-working clear mot metrics
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parents:
592
diff
changeset
|
1880 |
594
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diff
changeset
|
1881 # match all unmatched GT-TO |
998
933670761a57
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diff
changeset
|
1882 matchedGTs = list(matches.keys()) |
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diff
changeset
|
1883 matchedTOs = list(matches.values()) |
594
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diff
changeset
|
1884 costs = [] |
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diff
changeset
|
1885 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs] |
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diff
changeset
|
1886 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs] |
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diff
changeset
|
1887 nGTs = len(matchedGTs)+len(unmatchedGTs) |
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diff
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|
1888 nTOs = len(matchedTOs)+len(unmatchedTOs) |
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diff
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|
1889 if len(unmatchedTOs) > 0: |
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593
diff
changeset
|
1890 for a in unmatchedGTs: |
595
17b02c8054d0
added tests and corrected one bug
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594
diff
changeset
|
1891 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs]) |
594
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1892 if len(costs) > 0: |
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1893 newMatches = munk.compute(costs) |
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1894 for k,v in newMatches: |
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1895 if costs[k][v] < matchingDistance: |
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1896 matches[unmatchedGTs[k]]=unmatchedTOs[v] |
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1897 dist += costs[k][v] |
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1898 if debug: |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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1899 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.items()])) |
723
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1900 if returnMatches: |
998
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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1901 for a,o in matches.items(): |
723
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1902 gtMatches[a.getNum()][t] = o.getNum() |
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1903 toMatches[o.getNum()][t] = a.getNum() |
594
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1904 |
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1905 # compute metrics elements |
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1906 ct += len(matches) |
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1907 mt += nGTs-len(matches) |
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1908 fpt += nTOs-len(matches) |
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1909 gt += nGTs |
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1910 # compute mismatches |
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1911 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame |
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1912 mismatches = [] |
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1913 for a in matches: |
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1914 if a in previousMatches: |
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1915 if matches[a] != previousMatches[a]: |
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1916 mismatches.append(a) |
998
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1917 elif matches[a] in list(previousMatches.values()): |
594
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1918 mismatches.append(matches[a]) |
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1919 for a in previousMatches: |
998
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parents:
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1920 if a not in matches and previousMatches[a] in list(matches.values()): |
594
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1921 mismatches.append(previousMatches[a]) |
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1922 if debug: |
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1923 for mm in set(mismatches): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
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1924 print('{} {}'.format(type(mm), mm.getNum())) |
594
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1925 # some object mismatches may appear twice |
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1926 mme += len(set(mismatches)) |
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1927 |
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1928 if ct > 0: |
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1929 motp = dist/ct |
593
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1930 else: |
594
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1931 motp = None |
595
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1932 if gt > 0: |
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1933 mota = 1.-float(mt+fpt+mme)/gt |
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1934 else: |
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parents:
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1935 mota = None |
956
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removing unnecessary complexity of varying number of return elements
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parents:
949
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1936 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches |
593
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diff
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|
1937 |
62
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
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1938 def plotRoadUsers(objects, colors): |
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
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1939 '''Colors is a PlottingPropertyValues instance''' |
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parents:
58
diff
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1940 from matplotlib.pyplot import figure, axis |
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parents:
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diff
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1941 figure() |
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parents:
58
diff
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|
1942 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
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|
1943 obj.plot(colors.get(obj.userType)) |
62
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
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|
1944 axis('equal') |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
1945 |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
1946 |
2
de5642925615
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parents:
0
diff
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|
1947 if __name__ == "__main__": |
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0
diff
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|
1948 import doctest |
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diff
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|
1949 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
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|
1950 suite = doctest.DocFileSuite('tests/moving.txt') |
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
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|
1951 #suite = doctest.DocTestSuite() |
2
de5642925615
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0
diff
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|
1952 unittest.TextTestRunner().run(suite) |
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0
diff
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|
1953 #doctest.testmod() |
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parents:
0
diff
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|
1954 #doctest.testfile("example.txt") |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1955 if shapelyAvailable: |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1956 suite = doctest.DocFileSuite('tests/moving_shapely.txt') |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1957 unittest.TextTestRunner().run(suite) |