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annotate trafficintelligence/moving.py @ 1226:d478d3122804

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change of bicycle to cyclist
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 12 Jul 2023 12:12:37 -0400
parents 69b531c7a061
children 5654c9173548
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aed8eb63cdde initial commit with non-functional python code for NGSIM
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import copy
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5 from math import sqrt, atan2, cos, sin
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6
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7 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, ceil, float32, argwhere, minimum, issubdtype, integer as npinteger
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8 from matplotlib.pyplot import plot, text, arrow
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9 from scipy.stats import scoreatpercentile
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10 from scipy.spatial.distance import cdist
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11 from scipy.signal import savgol_filter
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12
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13 try:
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14 from shapely.geometry import Polygon, Point as shapelyPoint
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15 from shapely.prepared import prep, PreparedGeometry
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16 shapelyAvailable = True
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17 except ImportError:
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18 print('Shapely library could not be loaded')
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19 shapelyAvailable = False
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20
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21 from trafficintelligence import utils, cvutils
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22 from trafficintelligence.base import VideoFilenameAddable
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25 class Interval(object):
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26 '''Generic interval: a subset of real numbers (not iterable)'''
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27 def __init__(self, first=0, last=-1, revert = False):
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28 if revert and last<first:
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29 self.first=last
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30 self.last=first
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31 else:
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32 self.first=first
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33 self.last=last
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34
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35 def __str__(self):
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36 return '{0}-{1}'.format(self.first, self.last)
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37
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38 def __repr__(self):
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39 return self.__str__()
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40
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41 def __eq__(self, other):
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42 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first))
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43
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44 def empty(self):
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45 return self.first > self.last
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46
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47 def center(self):
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48 return (self.first+self.last)/2.
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49
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50 def length(self):
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51 '''Returns the length of the interval'''
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52 return float(max(0,self.last-self.first))
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54 def equal(self, i2):
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55 return self.first==i2.first and self.last == i2.last
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56
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57 def getList(self):
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58 return [self.first, self.last]
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59
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60 def contains(self, instant):
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61 return (self.first<=instant and self.last>=instant)
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62
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63 def inside(self, interval2):
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64 '''Indicates if the temporal interval of self is comprised in interval2'''
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65 return (self.first >= interval2.first) and (self.last <= interval2.last)
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66
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67 def shift(self, offset):
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68 self.first += offset
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69 self.last += offset
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70
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71 @classmethod
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72 def parse(cls, s):
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73 if '-' in s:
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74 tmp = s.split('-')
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75 if len(tmp) == 2:
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76 return cls(int(tmp[0]), int(tmp[1])) # TODO with floats?
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77 print(s+' is not a valid representation of an interval')
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78 return None
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79
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80 @classmethod
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81 def union(cls, interval1, interval2):
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82 '''Smallest interval comprising self and interval2'''
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83 return cls(min(interval1.first, interval2.first), max(interval1.last, interval2.last))
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84
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85 @classmethod
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86 def intersection(cls, interval1, interval2):
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87 '''Largest interval comprised in both self and interval2'''
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88 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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89
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90 def distance(self, interval2):
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91 if not Interval.intersection(self, interval2).empty():
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92 return 0
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93 elif self.first > interval2.last:
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94 return self.first - interval2.last
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95 elif self.last < interval2.first:
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96 return interval2.first - self.last
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97 else:
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98 return None
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99
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100 @classmethod
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101 def unionIntervals(cls, intervals):
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102 'returns the smallest interval containing all intervals'
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103 inter = cls(intervals[0].first, intervals[0].last)
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104 for i in intervals[1:]:
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105 inter = cls.union(inter, i)
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106 return inter
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107
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108
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109 class TimeInterval(Interval):
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110 '''Temporal interval: set of instants at fixed time step, between first and last, included
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111
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112 For example: based on frame numbers (hence the modified length method)
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113 It may be modified directly by setting first and last
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114 It also (mostly) works with datetime.datetime'''
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115
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116 def __init__(self, first=0, last=-1, revert = False):
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117 super(TimeInterval, self).__init__(first, last, revert)
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118
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119 @staticmethod
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120 def fromInterval(inter):
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121 return TimeInterval(inter.first, inter.last)
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122
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123 def __getitem__(self, i):
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124 if not self.empty():
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125 if isinstance(i, int):
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126 return self.first+i
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127 else:
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128 raise TypeError("Invalid argument type.")
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129 #elif isinstance( key, slice ):
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130
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131 def __iter__(self):
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132 self.iterInstantNum = -1
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133 return self
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parents: 26
diff changeset
134
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
135 def __next__(self):
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
136 if self.iterInstantNum >= self.length()-1:
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
137 raise StopIteration
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
138 else:
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
139 self.iterInstantNum += 1
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
140 return self[self.iterInstantNum]
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
141
26
54d9cb0c902b generalized intervals
Nicolas Saunier <nico@confins.net>
parents: 25
diff changeset
142 def length(self):
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
143 '''Returns the length of the interval'''
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
144 return float(max(0,self.last-self.first+1))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
145
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
146 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
147 return self.length()
f2b52355a286 made length a STObject method
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parents: 685
diff changeset
148
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
149 # class BoundingPolygon:
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parents: 6
diff changeset
150 # '''Class for a polygon bounding a set of points
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parents: 6
diff changeset
151 # with methods to create intersection, unions...
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Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
152 # '''
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parents: 6
diff changeset
153 # We will use the polygon class of Shapely
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parents: 6
diff changeset
154
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
155 class STObject(object):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
156 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
157 (time interval and bounding polygon for positions (e.g. rectangle)).
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
158
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
159 It may not mean that the object is defined
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
160 for all time instants within the time interval'''
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
161
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
162 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
163 self.num = num
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
164 self.timeInterval = timeInterval
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
165 self.boundingPolygon = boundingPolygon
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
166
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
167 def empty(self):
688
f2b52355a286 made length a STObject method
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parents: 685
diff changeset
168 return self.timeInterval.empty()# or not self.boudingPolygon
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
169
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
170 def getNum(self):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
171 return self.num
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
172
688
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
173 def __len__(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
174 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
175
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
176 def length(self):
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
177 return self.timeInterval.length()
f2b52355a286 made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
178
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
179 def getFirstInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
180 return self.timeInterval.first
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
181
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
182 def getLastInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
Nicolas Saunier <nico@confins.net>
parents: 39
diff changeset
183 return self.timeInterval.last
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
184
1001
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
185 def setFirstInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
186 if t <= self.timeInterval.last:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
187 self.timeInterval.first = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
188 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
189 print('new first instant is after last, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
190
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
191 def setLastInstant(self, t):
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
192 if t >= self.timeInterval.first:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
193 self.timeInterval.last = t
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
194 else:
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
195 print('new last instant is before first, not changing')
cc7c6b821ae6 added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 998
diff changeset
196
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
197 def getTimeInterval(self):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
198 return self.timeInterval
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
199
108
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
200 def existsAtInstant(self, t):
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
201 return self.timeInterval.contains(t)
6efe470ea5e5 added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 107
diff changeset
202
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
203 def commonTimeInterval(self, obj2):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
204 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
205
785
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
206 def shiftTimeInterval(self, offset):
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
207 self.timeInterval.shift(offset)
3aa6102ccc12 addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 781
diff changeset
208
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
209 class Point(object):
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
210 def __init__(self, x, y):
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
211 self.x = x
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
212 self.y = y
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
213
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
214 def __str__(self):
675
ab3fdff42624 corrected old format for Point.__str__
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 674
diff changeset
215 return '({:f},{:f})'.format(self.x,self.y)
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
216
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
217 def __repr__(self):
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
218 return self.__str__()
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
219
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
220 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
221 return (self.x == other.x) and (self.y == other.y)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
222
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
223 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
224 return Point(self.x+other.x, self.y+other.y)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
225
25
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
226 def __sub__(self, other):
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
227 return Point(self.x-other.x, self.y-other.y)
28e546861263 added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents: 23
diff changeset
228
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
229 def __neg__(self):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
230 return Point(-self.x, -self.y)
575
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
231
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
232 def __mul__(self, alpha):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
233 'Warning, returns a new Point'
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
234 return Point(self.x*alpha, self.y*alpha)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
235
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
236 def divide(self, alpha):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
237 'Warning, returns a new Point'
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
238 return Point(self.x/alpha, self.y/alpha)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
239
575
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
240 def __getitem__(self, i):
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
241 if i == 0:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
242 return self.x
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
243 elif i == 1:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
244 return self.y
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
245 else:
13df64a9ff9d added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 574
diff changeset
246 raise IndexError()
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
247
690
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
248 def orthogonal(self, clockwise = True):
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
249 'Returns the orthogonal vector'
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
250 if clockwise:
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
251 return Point(self.y, -self.x)
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 688
diff changeset
252 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
253 return Point(-self.y, self.x)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
254
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
255 def normalize(self):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
256 return self.divide(self.norm2())
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
257
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
258 def projectLocal(self, v, clockwise = True):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
259 'Projects point projected on v, v.orthogonal()'
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
260 e1 = v.normalize()
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
261 e2 = e1.orthogonal(clockwise)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
262 return Point(Point.dot(self, e1), Point.dot(self, e2))
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
263
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
264 def rotate(self, theta):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
265 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta))
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
266
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
267 def plot(self, options = 'o', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
268 plot([self.x], [self.y], options, **kwargs)
41
eb78c6edc0c8 added drawing for Point
Nicolas Saunier <nico@confins.net>
parents: 40
diff changeset
269
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
270 @staticmethod
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
271 def plotSegment(p1, p2, options = 'o', withOrigin = True, **kwargs):
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
272 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs)
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
273 p1.plot('or', **kwargs)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
274
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
275 def angle(self):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
276 return atan2(self.y, self.x)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
277
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
278 def norm2Squared(self):
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
279 '''2-norm distance (Euclidean distance)'''
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
280 return self.x**2+self.y**2
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
281
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
282 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
283 '''2-norm distance (Euclidean distance)'''
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
284 return sqrt(self.norm2Squared())
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
285
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
286 def norm1(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
287 return abs(self.x)+abs(self.y)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
288
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
289 def normMax(self):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
290 return max(abs(self.x),abs(self.y))
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
291
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
292 def aslist(self):
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
293 return [self.x, self.y]
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
294
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
295 def astuple(self):
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
296 return (self.x, self.y)
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
297
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
298 def asint(self):
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
299 return Point(int(self.x), int(self.y))
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
300
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
301 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
302 def asShapely(self):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
303 return shapelyPoint(self.x, self.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
304
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
305 def homographyProject(self, homography):
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
306 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography)
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
307 return Point(projected[0], projected[1])
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
308
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
309 def inPolygon(self, polygon):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
310 '''Indicates if the point x, y is inside the polygon
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
311 (array of Nx2 coordinates of the polygon vertices)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
312
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
313 taken from http://www.ariel.com.au/a/python-point-int-poly.html
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
314
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
315 Use Polygon.contains if Shapely is installed'''
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
316
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
317 n = polygon.shape[0];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
318 counter = 0;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
319
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
320 p1 = polygon[0,:];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
321 for i in range(n+1):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
322 p2 = polygon[i % n,:];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
323 if self.y > min(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
324 if self.y <= max(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
325 if self.x <= max(p1[0],p2[0]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
326 if p1[1] != p2[1]:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
327 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
328 if p1[0] == p2[0] or self.x <= xinters:
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
329 counter+=1;
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
330 p1=p2
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
331 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
332
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
333 @staticmethod
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
334 def fromList(p):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
335 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
336
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
337 @staticmethod
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
338 def dot(p1, p2):
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
339 'Scalar product'
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
340 return p1.x*p2.x+p1.y*p2.y
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
341
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
342 @staticmethod
90
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
343 def cross(p1, p2):
f84293ad4611 renamed inner to cross product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 89
diff changeset
344 'Cross product'
89
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
345 return p1.x*p2.y-p1.y*p2.x
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
346
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
347 @staticmethod
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
348 def parallel(p1, p2):
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
349 return Point.cross(p1, p2) == 0.
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
350
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 982
diff changeset
351 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
352 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
353 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2())
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
354
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
355 @staticmethod
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
356 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
357 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
358
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
359 @staticmethod
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1203
diff changeset
360 def plotAll(points, closePolygon = False, options = '', **kwargs):
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
361 xCoords = [p.x for p in points]
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
362 yCoords = [p.y for p in points]
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
363 if closePolygon:
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1203
diff changeset
364 xCoords.append(xCoords[0])
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1203
diff changeset
365 yCoords.append(yCoords[0])
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
366 plot(xCoords, yCoords, options, **kwargs)
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
367
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
368 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
369 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
370 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
371
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
372 @staticmethod
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
373 def timeToCollision(p1, p2, v1, v2, collisionThreshold):
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
374 '''Computes exact time to collision with a distance threshold
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
375 The unknown of the equation is the time to reach the intersection
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
376 between the relative trajectory of one road user
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
377 and the circle of radius collisionThreshold around the other road user'''
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
378 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
379 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
380 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2
516
bce1fe45d1b2 corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
381 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
382 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
383
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
384 delta = b**2 - 4*a*c
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
385 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
386 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
387 ttc1 = (-b + deltaRoot)/(2*a)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
388 ttc2 = (-b - deltaRoot)/(2*a)
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
389 if ttc1 >= 0 and ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
390 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
391 elif ttc1 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
392 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
393 elif ttc2 >= 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
394 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
395 else: # ttc1 < 0 and ttc2 < 0:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
396 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
397 else:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
398 return None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
399
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
400 @staticmethod
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
401 def timeToCollisionPoly(corners1, v1, corners2, v2):
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
402 """
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
403 :param bbox_1: list: [bbox_1 array 4*2 , v_1_x (float), v_1_y (float)]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
404 :param bbox_2: [bbox_2_x array 4*2, v_2_x (float), v_2_y (float)]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
405 :return: ttc
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
406 """
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
407 from sympy import solve
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
408 from sympy.abc import t
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
409 def NewFourPoints(bbox, col_time, v_x, v_y):
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
410 return [i + col_time * v_x for i in bbox[0]], [j + col_time * v_y for j in bbox[1]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
411
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
412 v_1_x, v_1_y = v1.x, v1.y
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
413 v_2_x, v_2_y = v2.x, v2.y
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
414 x_bbox_1 = [p.x for p in corners1]
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
415 y_bbox_1 = [p.y for p in corners1]
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
416 bbox_1 = [x_bbox_1, y_bbox_1]
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
417 x_bbox_2 = [p.x for p in corners2]
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
418 y_bbox_2 = [p.y for p in corners2]
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
419 bbox_2 = [x_bbox_2, y_bbox_2]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
420 t_total = []
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
421 line = [[0, 1], [1, 2], [2, 3], [3, 0]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
422 for i in range(4):
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
423 for j in range(4):
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
424 p0_x, p0_y = x_bbox_2[i], y_bbox_2[i]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
425 p1_x, p1_y = x_bbox_1[line[j][0]], y_bbox_1[line[j][0]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
426 p2_x, p2_y = x_bbox_1[line[j][1]], y_bbox_1[line[j][1]]
1217
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
427 p0_x_t = p0_x + v_2_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
428 p0_y_t = p0_y + v_2_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
429 p1_x_t = p1_x + v_1_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
430 p1_y_t = p1_y + v_1_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
431 p2_x_t = p2_x + v_1_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
432 p2_y_t = p2_y + v_1_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
433 f = (p2_x_t - p1_x_t) * (p0_y_t - p1_y_t) - (p0_x_t - p1_x_t) * (p2_y_t - p1_y_t)
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
434 collision_t = solve(f, t, set=True, dict=True)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
435 if collision_t and collision_t[0][t] >= 0:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
436 collision_t = collision_t[0][t]
1217
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
437 #print(f'collision_t: {collision_t} >>>>>>>>>')
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
438 x_bbox_1_new, y_bbox_1_new = NewFourPoints(bbox_1, collision_t, v_1_x, v_1_y)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
439 x_bbox_2_new, y_bbox_2_new = NewFourPoints(bbox_2, collision_t, v_2_x, v_2_y)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
440 p0_x, p0_y = x_bbox_2_new[i], y_bbox_2_new[i]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
441 p1_x, p1_y = x_bbox_1_new[line[j][0]], y_bbox_1_new[line[j][0]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
442 p2_x, p2_y = x_bbox_1_new[line[j][1]], y_bbox_1_new[line[j][1]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
443 min_x, max_x = min(p1_x, p2_x), max(p1_x, p2_x)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
444 min_y, max_y = min(p1_y, p2_y), max(p1_y, p2_y)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
445 if min_x == max_x:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
446 if min_y <= p0_y <= max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
447 t_total.append(collision_t)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
448 elif min_y == max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
449 if min_x <= p0_x <= max_x:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
450 t_total.append(collision_t)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
451 else:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
452 if min_x <= p0_x <= max_x or min_y <= p0_y <= max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
453 t_total.append(collision_t)
1217
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
454
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
455 x_temps = x_bbox_2
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
456 x_bbox_2 = x_bbox_1
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
457 x_bbox_1 = x_temps
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
458 # print(f'Change bounding box1 and box2 >>>>>>>>>>>>>>>>>>>\n\n\n')
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
459 for i in range(4):
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
460 for j in range(4):
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
461 p0_x, p0_y = x_bbox_2[i], y_bbox_2[i]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
462 p1_x, p1_y = x_bbox_1[line[j][0]], y_bbox_1[line[j][0]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
463 p2_x, p2_y = x_bbox_1[line[j][1]], y_bbox_1[line[j][1]]
1217
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
464 p0_x_t = p0_x + v_2_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
465 p0_y_t = p0_y + v_2_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
466 p1_x_t = p1_x + v_1_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
467 p1_y_t = p1_y + v_1_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
468 p2_x_t = p2_x + v_1_x * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
469 p2_y_t = p2_y + v_1_y * t
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
470 f = (p2_x_t - p1_x_t) * (p0_y_t - p1_y_t) - (p0_x_t - p1_x_t) * (p2_y_t - p1_y_t)
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
471 collision_t = solve(f, t, set=True, dict=True)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
472 if collision_t and collision_t[0][t] >= 0:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
473 collision_t = collision_t[0][t]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
474 # print(f'collision_t: {collision_t} >>>>>>>>>')
1217
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
475 x_bbox_1_new, y_bbox_1_new = NewFourPoints(bbox_1, collision_t, v_1_x, v_1_y)
5038c357b57f updating code for direct computation (very slow solver)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1214
diff changeset
476 x_bbox_2_new, y_bbox_2_new = NewFourPoints(bbox_2, collision_t, v_2_x, v_2_y)
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
477 p0_x, p0_y = x_bbox_2_new[i], y_bbox_2_new[i]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
478 p1_x, p1_y = x_bbox_1_new[line[j][0]], y_bbox_1_new[line[j][0]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
479 p2_x, p2_y = x_bbox_1_new[line[j][1]], y_bbox_1_new[line[j][1]]
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
480 min_x, max_x = min(p1_x, p2_x), max(p1_x, p2_x)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
481 min_y, max_y = min(p1_y, p2_y), max(p1_y, p2_y)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
482 if min_x == max_x:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
483 if min_y <= p0_y <= max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
484 t_total.append(collision_t)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
485
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
486 elif min_y == max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
487 if min_x <= p0_x <= max_x:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
488 t_total.append(collision_t)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
489
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
490 else:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
491 if min_x <= p0_x <= max_x or min_y <= p0_y <= max_y:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
492 t_total.append(collision_t)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
493
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
494 if t_total:
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
495 collision_t_min = min(t_total)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
496 # print(f'collision_time:')
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
497 # print(collision_t_min)
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
498 else:
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
499 collision_t_min = None
1213
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
500 # print(f'No collision')
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
501 return collision_t_min
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
502
3f2214125164 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
503 @staticmethod
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
504 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
505 'Returns the middle of the segment [p1, p2]'
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
506 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
507
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
508 @staticmethod
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
509 def agg(points, aggFunc = mean):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
510 return Point(aggFunc([p.x for p in points]), aggFunc([p.y for p in points]))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
511
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
512 @staticmethod
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
513 def boundingRectangle(points, v):
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
514 '''Returns the bounding rectangle of the points, aligned on the vector v
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
515 A list of points is returned: front left, front right, rear right, rear left'''
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
516 e1 = v.normalize()
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
517 e2 = e1.orthogonal(False)
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
518 xCoords = []
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
519 yCoords = []
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
520 for p in points:
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
521 xCoords.append(Point.dot(e1, p))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
522 yCoords.append(Point.dot(e2, p))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
523 xmin = min(xCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
524 xmax = max(xCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
525 ymin = min(yCoords)
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
526 ymax = max(yCoords)
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
527 frontLeft = Point(xmax, ymax)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
528 frontRight = Point(xmax, ymin)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
529 rearLeft = Point(xmin, ymax)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
530 rearRight = Point(xmin, ymin)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
531 originalE1 = Point(Point.dot(e1, Point(1,0)),Point.dot(e2, Point(1,0)))
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
532 originalE2 = Point(Point.dot(e1, Point(0,1)),Point.dot(e2, Point(0,1)))
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
533 return [Point(Point.dot(originalE1, p), Point.dot(originalE2, p)) for p in [frontLeft, frontRight, rearRight, rearLeft]]
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
534
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
535 if shapelyAvailable:
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
536 def pointsToShapely(points):
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
537 'Returns shapely polygon'
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
538 return Polygon([p.astuple() for p in points])
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
539
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
540 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
541 '''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
542 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
543 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
544 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
545 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
546 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
547
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
548 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
549 # From Paul St-Aubin's PVA tools
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
550 def prepareAlignments(alignments):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
551 '''Prepares alignments (list of splines, each typically represented as a Trajectory)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
552 - computes cumulative distances
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
553 - approximates slope singularity by giving some slope roundoff (account for roundoff error)'''
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
554 for alignment in alignments:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
555 alignment.computeCumulativeDistances()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
556 p1 = alignment[0]
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
557 for i in range(len(alignment)-1):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
558 p2 = alignment[i+1]
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
559 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
560 p2.x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
561 if(round(p1.y, 10) == round(p2.y, 10)):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
562 p2.y += 0.0000000001
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
563 p1 = p2
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
564
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
565 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
566 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
567 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
568 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
569 if(p0x == p1x and p0y == p1y):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
570 return None
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
571 try:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
572 #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
573 # if(round(p0x, 10) == round(p1x, 10)):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
574 # p1x += 0.0000000001
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
575 # if(round(p0y, 10) == round(p1y, 10)):
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
576 # p1y += 0.0000000001
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
577 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
578 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
579 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
580 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
581 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:')
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
582 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
583 import pdb;
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
584 pdb.set_trace()
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
585 return Point(X, Y)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
586
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
587 def getSYfromXY(p, alignments, goodEnoughAlignmentDistance = 0.5):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
588 ''' Snap a point p to its nearest subsegment of it's nearest alignment (from the list alignments).
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
589 A alignment is a list of points (class Point), most likely a trajectory.
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
590
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
591 Output:
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
592 =======
1094
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
593 [alignment index,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
594 subsegment leading point index,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
595 snapped point,
c96388c696ac adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1086
diff changeset
596 subsegment distance,
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
597 alignment distance,
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
598 orthogonal point offset]
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
599
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
600 or None
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
601 '''
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
602 minOffsetY = float('inf')
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
603 #For each alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
604 for alignmentIdx in range(len(alignments)):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
605 #For each alignment point index
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
606 for alignment_p in range(len(alignments[alignmentIdx])-1):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
607 #Get closest point on alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
608 closestPoint = ppldb2p(p.x,p.y,alignments[alignmentIdx][alignment_p][0],alignments[alignmentIdx][alignment_p][1],alignments[alignmentIdx][alignment_p+1][0],alignments[alignmentIdx][alignment_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
609 if closestPoint is None:
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
610 print('Error: Alignment {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(alignmentIdx, alignment_p))
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
611 return None
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
612 # check if the projected point is in between the current segment of the alignment bounds
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
613 if utils.inBetween(alignments[alignmentIdx][alignment_p][0], alignments[alignmentIdx][alignment_p+1][0], closestPoint.x) and utils.inBetween(alignments[alignmentIdx][alignment_p][1], alignments[alignmentIdx][alignment_p+1][1], closestPoint.y):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
614 offsetY = Point.distanceNorm2(closestPoint, p)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
615 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
616 minOffsetY = offsetY
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
617 snappedAlignmentIdx = alignmentIdx
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
618 snappedAlignmentLeadingPoint = alignment_p
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
619 snappedPoint = Point(closestPoint.x, closestPoint.y)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
620 #Jump loop if significantly close
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
621 if offsetY < goodEnoughAlignmentDistance:
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
622 break
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
623
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
624 #Get sub-segment distance
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
625 if minOffsetY != float('inf'):
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
626 subsegmentDistance = Point.distanceNorm2(snappedPoint, alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint])
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
627 #Get cumulative alignment distance (total segment distance)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
628 alignmentDistanceS = alignments[snappedAlignmentIdx].getCumulativeDistance(snappedAlignmentLeadingPoint) + subsegmentDistance
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
629 orthogonalAlignmentVector = (alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint+1]-alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint]).orthogonal()
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
630 offsetVector = p-snappedPoint
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
631 if Point.dot(orthogonalAlignmentVector, offsetVector) < 0:
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
632 minOffsetY = -minOffsetY
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
633 return [snappedAlignmentIdx, snappedAlignmentLeadingPoint, snappedPoint, subsegmentDistance, alignmentDistanceS, minOffsetY]
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
634 else:
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
635 print('Offset for point {} is infinite (check with prepareAlignments if some alignment 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
636 return None
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
637
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
638 def getXYfromSY(s, y, alignmentNum, alignments):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
639 ''' Find X,Y coordinate from S,Y data.
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
640 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
641 if mode !=0 : return Real X,Y
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
642 '''
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
643 alignment = alignments[alignmentNum]
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
644 i = 1
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
645 while s > alignment.getCumulativeDistance(i) and i < len(alignment):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
646 i += 1
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
647 if i < len(alignment):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
648 d = s - alignment.getCumulativeDistance(i-1) # distance on subsegment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
649 #Get difference vector and then snap
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
650 dv = alignment[i] - alignment[i-1]
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
651 normalizedV = dv.normalize()
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
652 #snapped = alignment[i-1] + normalizedV*d # snapped point coordinate along alignment
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
653 # add offset finally
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
654 orthoNormalizedV = normalizedV.orthogonal()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
655 return alignment[i-1] + normalizedV*d + orthoNormalizedV*y
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
656 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
657 print('Curvilinear point {} is past the end of the alignement'.format((s, y, alignmentNum)))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
658 return None
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
659
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
660
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
661 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
662 '''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
663
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
664 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
665 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
666 self.angle = angle
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
667
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
668 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
669 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
670 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
671 if norm > 0:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
672 angle = p.angle()
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
673 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
674 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
675 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
676
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
677 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
678 '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
679 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
680
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
681 def getPoint(self):
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
682 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
683
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
684
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
685 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
686 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
687 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
688
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
689 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
690 '''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
691 speedOrientation is the other encoding of velocity, (speed, orientation)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
692 speedOrientation and control are NormAngle'''
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
693 predictedSpeedTheta = speedOrientation+control
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
694 if maxSpeed is not None:
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
695 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
696 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
697 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
698
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
699
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
700 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
701 '''Class to represent 4-D flow vectors,
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
702 ie a position and a velocity'''
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
703 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
704 'position and velocity should be Point instances'
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
705 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
706 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
707
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
708 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
709 return FlowVector(self.position+other.position, self.velocity+other.velocity)
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
710
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
711 def __mul__(self, alpha):
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
712 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
713
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
714 def plot(self, options = '', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
715 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
716 self.position.plot(options+'x', **kwargs)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
717
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
718 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
719 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
720 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
721
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
722 def intersection(p1, p2, p3, p4):
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
723 ''' Intersection point (x,y) of the segments [p1, p2] and [p3, p4]
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
724 Returns the intersection point and the ratio of its position along [p1, p2] from p1
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
725
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
726 Based on http://paulbourke.net/geometry/pointlineplane/'''
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
727 dp12 = p2-p1
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
728 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
729 #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
730 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
731 if det == 0.:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
732 return None, None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
733 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
734 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
735 return p1+dp12.__mul__(ua), ua
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
736
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
737 # def intersection(p1, p2, dp1, dp2):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
738 # '''Returns the intersection point between the two lines
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
739 # 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
740 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
741 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
742 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
743 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
744 # 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
745 # [dp2.y*p2.x-dp2.x*p2.y]])
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
746
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
747 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
748 # return None
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
749 # else:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
750 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
751 # 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
752
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
753 def segmentIntersection(p1, p2, p3, p4):
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
754 '''Returns the intersecting point (and ratio along [p1, p2]) of the segments [p1, p2] and [p3, p4], None otherwise'''
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
755
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
756 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()):
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
757 return None, None
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
758 else:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
759 inter, ratio = intersection(p1, p2, p3, p4)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
760 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
761 and utils.inBetween(p1.x, p2.x, inter.x)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
762 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
763 and utils.inBetween(p1.y, p2.y, inter.y)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
764 and utils.inBetween(p3.y, p4.y, inter.y)):
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
765 return inter, ratio
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
766 else:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
767 return None, None
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
768
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
769 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
770 '''Indicates if the line going through p1 and p2 intersects inside p3, p4'''
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
771 inter, ratio = 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
772 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y):
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
773 return inter, ratio
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
774 else:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
775 return None, None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
776
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
777 def segmentOrientationCrossing(p1, p2, p3, p4):
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
778 '''Returns the direction of the crossing, assuming there is a crossing: True means right (p3) to left (p4) (along the orthogonal vector to [p1, p2] (positive trigonometric orientation), False the other way'''
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
779 dp12 = p2-p1
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
780 ortho = dp12.orthogonal(False)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
781 return Point.dot(ortho, p4-p3) > 0
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
782
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
783 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
784 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
785
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
786 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
787
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
788 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
789 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
790 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
791 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
792 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
793
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
794 @staticmethod
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
795 def generate(p, v, nPoints):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
796 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
797 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
798 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
799 for i in range(nPoints-1):
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
800 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
801 t.addPosition(p0)
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
802 return t
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
803
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
804 @staticmethod
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
805 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
806 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
807 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
808
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
809 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
810 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
811 t = Trajectory()
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
812 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
813 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
814 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
815 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
816 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
817 t.addPosition(p)
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
818 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
819
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
820 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
821 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
822
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
823 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
824 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
825
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
826 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
827 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
828
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
829 def __getitem__(self, i):
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1207
diff changeset
830 if isinstance(i, int):# or issubdtype(i, npinteger):
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
831 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
832 elif isinstance(i, slice):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
833 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
834 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
835 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
836
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
837 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
838 return ' '.join([self.__getitem__(i).__str__() for i in range(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
839
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
840 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
841 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
842
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
843 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
844 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
845 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
846
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
847 def __next__(self):
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
848 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
849 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
850 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
851 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
852 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
853
776
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
854 def __eq__(self, other):
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
855 if self.length() == other.length():
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
856 result = True
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
857 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
858 result = result and (p == po)
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
859 return result
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
860 else:
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
861 return False
84420159c5f4 added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 771
diff changeset
862
1122
58efbe18f102 slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1117
diff changeset
863 def append(self,other):
58efbe18f102 slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1117
diff changeset
864 '''adds positions of other to the trajectory (in-place modification)'''
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
865 for i in range(2):
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
866 self.positions[i] += other.positions[i]
1122
58efbe18f102 slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1117
diff changeset
867
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
868 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
869 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
870 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
871 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
872
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
873 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
874 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
875
1222
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
876 def reset(self, x, y):
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
877 for i in range(self.__len__()):
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
878 self.positions[0][i] = x
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
879 self.positions[1][i] = y
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
880
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
881 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
882 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
883 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
884
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
885 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
886 self.addPositionXY(p.x, p.y)
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
887
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
888 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
889 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
890 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
891
1222
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
892 def agg(self, aggFunc = mean):
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
893 return Point.agg(self, aggFunc)
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
894
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
895 @staticmethod
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
896 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
897 if lastCoordinate is None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
898 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
899 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
900 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
901 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
902 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
903 if objNum is not None:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
904 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
905
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
906 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
907 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
908
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 929
diff changeset
909 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
910 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
911
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
912 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
913 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
914
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
915 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
916 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
917
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
918 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
919 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
920 [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
921 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
922
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
923 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
924 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
925
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
926 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
927 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
928
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
929 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
930 return array(self.positions)
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
931
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
932 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
933 # 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
934 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
935
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
936 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
937 # 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
938 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
939
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
940 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
941 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
942 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
943 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
944 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
945 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
946 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
947 [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
948
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
949 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
950 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
951 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
952 print('Trajectories of different lengths')
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
953 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
954 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
955 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
956 [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
957
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
958 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
959 '''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
960 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
961 [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
962
1222
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
963 def filterMovingWindow(self, halfWidth, mode = 'valid'):
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
964 '''Returns a new Trajectory obtained after the smoothing of the input by a moving average'''
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
965 return Trajectory([utils.filterMovingWindow(self.positions[0], halfWidth, mode),
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
966 utils.filterMovingWindow(self.positions[1], halfWidth, mode)])
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
967
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
968 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
969 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
970 for i in range(1, self.length()):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
971 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
972 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
973 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
974 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
975
1196
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
976 def filterSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='nearest', cval=0.0, nInstantsIgnoredAtEnds = 2):
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
977 '''Filters the trajectory using the Savitsky Golay filter
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
978 if deriv = 1, the method differentiates
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
979 Warning: high order polynomials yield artefacts
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
980
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
981 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
982 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
983 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
984 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
985 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
986 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
987 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
988
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
989 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter'''
1193
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
990 filtered = savgol_filter(self.positions, window_length, polyorder, deriv, delta, axis, mode, cval)
1196
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
991 length = self.length()
1181
b3b1a5dfa17c correct bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1180
diff changeset
992 if nInstantsIgnoredAtEnds >=1:
1196
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
993 if nInstantsIgnoredAtEnds >= length/2:
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
994 n = int(round(length/2))-1
1195
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
995 else:
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
996 n = nInstantsIgnoredAtEnds
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
997 filtered = filtered[:,n:-n]
1193
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
998 return Trajectory(filtered.tolist())
761
15ddc8715236 added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 727
diff changeset
999
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
1000 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
1001 '''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
1002 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
1003
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1004 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1005 '''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
1006 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
1007 self.distances = []
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
1008 self.cumulativeDistances = [0.]
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1009 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1010 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
1011 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
1012 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1013 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
1014 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1015 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1016 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1017
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1018 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1019 '''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
1020 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1021 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1022 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1023 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
1024
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1025 def getCumulativeDistance(self, i):
1115
cef7aa2f9931 minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1114
diff changeset
1026 '''Returns the cumulative distance between the beginning and point i'''
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
1027 if i < self.length():
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1028 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
1029 else:
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
1030 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
1031
1115
cef7aa2f9931 minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1114
diff changeset
1032 def getTotalDistance(self):
cef7aa2f9931 minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1114
diff changeset
1033 '''Returns the total distance (shorthand for cumulative distance [-1]'''
cef7aa2f9931 minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1114
diff changeset
1034 return self.getCumulativeDistance(-1)
cef7aa2f9931 minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1114
diff changeset
1035
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1036 def getMaxDistance(self, metric):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1037 'Returns the maximum distance between points in the trajectory'
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1038 positions = self.getPositions().asArray().T
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1039 return cdist(positions, positions, metric = metric).max()
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1040
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1041 def getClosestPoint(self, p1, maxDist2 = None):
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1042 '''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
1043 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
1044 TODO: could use cdist for different metrics'''
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1045 distances2 = []
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1046 minDist2 = float('inf')
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1047 i = -1
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1048 for p2 in self:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1049 distances2.append(Point.distanceNorm2(p1, p2))
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1050 if distances2[-1] < minDist2:
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1051 minDist2 = distances2[-1]
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
1052 i = len(distances2)-1
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
1053 if maxDist2 is not None and minDist2 < maxDist2:
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
1054 return None
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
1055 else:
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1056 return i
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 936
diff changeset
1057
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
1058 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1059 '''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
1060 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
1061 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
1062 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1063 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1064 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1065 count += 1
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1066 return count >= lengthThreshold
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1067
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1068 def wiggliness(self):
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1069 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
1070 if straightDistance > 0:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1071 return self.getCumulativeDistance(self.length()-1)/float(straightDistance)
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1072 else:
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1073 return None
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1074
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1075 def getIntersections(self, p1, p2, computeOrientations = False):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1076 '''Returns a list of the indices at which the trajectory
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1077 intersects with the segment of extremities p1 and p2
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
1078 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
1079 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
1080 intersections = []
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1081 rightToLeftOrientations = []
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1082
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
1083 for i in range(self.length()-1):
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1084 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1085 q2=self.__getitem__(i+1)
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1086 p, ratio = segmentIntersection(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
1087 if p is not None:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1088 # if q1.x != q2.x:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1089 # ratio = (p.x-q1.x)/(q2.x-q1.x)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1090 # elif q1.y != q2.y:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1091 # ratio = (p.y-q1.y)/(q2.y-q1.y)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1092 # else:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1093 # ratio = 0
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1094 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
1095 intersections.append(p)
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1096 if computeOrientations:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1097 rightToLeftOrientations.append(segmentOrientationCrossing(p1, p2, q1, q2))
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1098 return indices, intersections, rightToLeftOrientations
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1099
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
1100 def getLineIntersections(self, p1, p2):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1101 '''Returns a list of the indices at which the trajectory
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1102 intersects with the line going through p1 and p2
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
1103 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
1104 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
1105 intersections = []
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1106
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
1107 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
1108 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
1109 q2=self.__getitem__(i+1)
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1110 p, ratio = segmentLineIntersection(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
1111 if p is not None:
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1112 # if q1.x != q2.x:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1113 # ratio = (p.x-q1.x)/(q2.x-q1.x)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1114 # elif q1.y != q2.y:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1115 # ratio = (p.y-q1.y)/(q2.y-q1.y)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1116 # else:
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1117 # ratio = 0
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
1118 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
1119 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
1120 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
1121
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1122 def subTrajectoryInInterval(self, inter):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1123 '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
1124 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
1125 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
1126 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
1127 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1128 return None
762
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1129
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1130 def subSample(self, step):
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1131 'Returns the positions very step'
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1132 return Trajectory([self.positions[0][::step],
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1133 self.positions[1][::step]])
d6f0e0cab07d added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 761
diff changeset
1134
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
1135 if shapelyAvailable:
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1136 def getInstantsInPolygon(self, polygon):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1137 '''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
1138 instants = []
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1139 n = self.length()
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1140 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
1141 if polygon.contains(shapelyPoint(x, y)):
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1142 instants.append(t)
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1143 return instants
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1144
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
1145 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
1146 '''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
1147 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
1148
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1149 t2 is another trajectory (could be velocities)
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
1150 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
1151 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
1152 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
1153 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
1154 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
1155 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
1156 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
1157 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
1158 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
1159 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
1160 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
1161 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
1162 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1163
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1164 def proportionInPolygon(self, polygon, minProportion = 0.5):
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1165 instants = self.getInstantsInPolygon(polygon)
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1166 lengthThreshold = float(self.length())*minProportion
863
a8ca72dc1564 work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 851
diff changeset
1167 return len(instants) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1168 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
1169 def getTrajectoryInPolygon(self, polygon, t2 = None):
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1170 '''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
1171 (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
1172 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
1173 inPolygon = []
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1174 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
1175 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
1176 if inPolygon[-1]:
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1177 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
1178 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
1179 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
1180 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
1181 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
1182 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
1183 return traj, traj2
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1184
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1185 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
1186 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
1187 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
1188 return sum(inPolygon) >= lengthThreshold
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
1189
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1190 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1191 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
1192 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
1193
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1194 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1195 '''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
1196 longitudinal coordinate is stored as first coordinate (exterior name S)
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1197 lateral coordinate is stored as second coordinate
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1198 the third "lane" coordinate is for an alignment id,
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1199 whether explicit for a list/dict of alignments,
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1200 or implicit for a road with lane numbers'''
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1201
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1202 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
1203 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
1204 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
1205 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
1206 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
1207 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1208 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
1209 if lanes is None or len(lanes) != self.length():
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1210 self.lanes = [None]*int(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
1211 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1212 self.lanes = lanes
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1213
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1214 @staticmethod
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1215 def generate(s, v, nPoints, lane, y = 0):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1216 '''s is initial position, v is velocity
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1217 0 in lateral coordinate by default
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1218 TODO 2D velocity for lane change?'''
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1219 S = [s]
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1220 for i in range(nPoints-1):
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1221 S.append(S[-1]+v)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1222 Y = [y]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1223 lanes = [lane]*nPoints
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1224 return CurvilinearTrajectory(S, Y, lanes)
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1225
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1226 @staticmethod
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1227 def fromTrajectoryProjection(t, alignments, halfWidth = 3):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1228 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()'
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1229 (curvilinearPositions instance) which holds information about the
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1230 curvilinear coordinates using alignment metadata.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1231 From Paul St-Aubin's PVA tools
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1232 ======
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1233
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1234 Input:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1235 ======
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1236 alignments = a list of alignments, where each alignment is a list of
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1237 points (class Point).
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1238 halfWidth = moving average window (in points) in which to smooth
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1239 lane changes. As per tools_math.cat_mvgavg(), this term
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1240 is a search *radius* around the center of the window.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1241
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1242 '''
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1243 curvilinearPositions = CurvilinearTrajectory()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1244
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1245 #For each point
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1246 for i in range(int(t.length())):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1247 result = getSYfromXY(t[i], alignments)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1248
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1249 # Error handling
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1250 if(result is None):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1251 print('Warning: trajectory at point {} {} has alignment errors (alignment snapping)\nCurvilinear trajectory could not be computed'.format(i, t[i]))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1252 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1253 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1254 curvilinearPositions.addPositionSYL(S, Y, align)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1255
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1256 ## Go back through points and correct lane
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1257 #Run through objects looking for outlier point
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1258 smoothed_lanes = utils.filterCategoricalMovingWindow(curvilinearPositions.getLanes(), halfWidth)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1259 ## Recalculate projected point to new lane
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1260 lanes = curvilinearPositions.getLanes()
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1261 if(lanes != smoothed_lanes):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1262 for i in range(len(lanes)):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1263 if(lanes[i] != smoothed_lanes[i]):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1264 result = getSYfromXY(t[i],[alignments[smoothed_lanes[i]]])
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1265
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1266 # Error handling
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1267 if(result is None):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1268 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment.
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1269 print(' Warning: trajectory at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(i, t[i]))
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1270 else:
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1271 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1272 curvilinearPositions.setPosition(i, S, Y, align)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1273 return curvilinearPositions
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1274
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1275 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
1276 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
1277 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
1278 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1279 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
1280 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1281
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1282 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1283 return self.getXCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1284
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1285 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1286 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1287
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1288 def getSCoordAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1289 return self.positions[0][i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1290
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1291 def getYCoordAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1292 return self.positions[1][i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1293
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1294 def getLaneAt(self, i):
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1295 return self.lanes[i]
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1296
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1297 def subTrajectoryInInterval(self, inter):
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1298 'Returns all curvilinear positions between index inter.first and index.last (included)'
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1299 if inter.first >=0 and inter.last<= self.length():
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1300 return CurvilinearTrajectory(self.positions[0][inter.first:inter.last+1],
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1301 self.positions[1][inter.first:inter.last+1],
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1302 self.lanes[inter.first:inter.last+1])
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1303 else:
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1304 return None
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1305
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1306 def append(self, other):
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1307 Trajectory.append(self, other)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1308 self.lanes.append(other.getLanes())
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1309
1085
7853106677b7 added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1081
diff changeset
1310 def addPositionSYL(self, s, y, lane = None):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1311 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1312 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1313
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1314 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
1315 '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
1316 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
1317
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1318 def duplicateLastPosition(self):
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1319 super(CurvilinearTrajectory, self).duplicateLastPosition()
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1320 self.lanes.append(self.lanes[-1])
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1321
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1322 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
1323 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1324 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1325 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
1326
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1327 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
1328 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1329 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
1330 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
1331 p2 = self[i]
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1332 if p2[2] == p1[2]:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1333 laneChange = None
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1334 else:
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1335 laneChange = (p1[2], p2[2])
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1336 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], laneChange)
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1337 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
1338 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
1339 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
1340 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
1341
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1342 def getIntersections(self, S1, lane = None):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1343 '''Returns a list of the indices at which the trajectory
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1344 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
1345 (in provided lane if lane is not None)
771
bd13937818a4 minor bug fix
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
1346 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
1347 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
1348 for i in range(self.length()-1):
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1349 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1350 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
1351 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
1352 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
1353 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
1354
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1355 ##################
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1356 # Geometry
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1357 ##################
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1358
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1359 class Geometry(object):
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1360 '''Generic class for outline and size of object '''
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1361
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1362
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1363 class CarGeometry(Geometry):
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1364 '''Default car geometry as rectangle '''
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1365
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1366 ##################
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1367 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1368 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1369
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1370 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
1371 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1372 '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
1373 'motorcycle',
1218
1f0b1fc172f8 adding COCO person and vehicle types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1217
diff changeset
1374 'cyclist',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1375 'bus',
1125
b358bed29ab4 updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1117
diff changeset
1376 'truck',
b358bed29ab4 updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1117
diff changeset
1377 'automated']
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1378
1226
d478d3122804 change of bicycle to cyclist
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1222
diff changeset
1379 coco2Types = {0: 2, 1: 4, 2: 1, 5: 5, 7: 6}
d478d3122804 change of bicycle to cyclist
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1222
diff changeset
1380 cocoTypeNames = {0: 'person',
1219
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1381 1: 'bicycle',
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1382 2: 'car',
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1383 3: 'motorcycle',
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1384 5: 'bus',
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1385 6: 'train',
8a626226793e update where optimization uses either nomad-parameter file depending on optimizing 1 or 2 steps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1218
diff changeset
1386 7: 'truck'}
1218
1f0b1fc172f8 adding COCO person and vehicle types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1217
diff changeset
1387
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1388 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
1389
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1390 class CarClassifier:
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1391 def predict(self, hog):
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1392 return userType2Num['car']
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
1393 carClassifier = CarClassifier()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1394
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
1395 class MovingObject(STObject, VideoFilenameAddable):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1396 '''Class for moving objects: a spatio-temporal object
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1397 with a trajectory and a geometry (constant volume over time)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1398 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
1399 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1400
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
1401 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None, features = None, initCurvilinear = False):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
1402 super(MovingObject, self).__init__(num, timeInterval)
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1403 if initCurvilinear:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1404 self.curvilinearPositions = positions
1098
469e36eea158 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1097
diff changeset
1405 self.curvilinearVelocities = velocities # third component is (previousAlignmentIdx, newAlignmentIdx) or None if no change
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1406 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1407 self.positions = positions
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1408 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1409 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1410 self.userType = userType
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1411 self.setNObjects(nObjects) # a feature has None for nObjects
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
1412 self.features = features
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
1413 # compute bounding polygon from trajectory
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1414
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1415 @staticmethod
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1416 def croppedTimeInterval(obj, value, after = True):
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1417 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant())
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1418 if obj.positions is not None :
1136
30171d4fd3df moving.py [Issue #22 from Etienne Beauchamp In annotationTool Correction]
Tertuis Ouédraogo <tertuis95@gmail.com>
parents: 1135
diff changeset
1419 newPositions = obj.positions[slice(newTimeInterval.first - obj.getLastInstant(), newTimeInterval.last + 1 - obj.getLastInstant())]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1420 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1421 newPositions = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1422 if obj.velocities is not None :
1136
30171d4fd3df moving.py [Issue #22 from Etienne Beauchamp In annotationTool Correction]
Tertuis Ouédraogo <tertuis95@gmail.com>
parents: 1135
diff changeset
1423 newVelocities = obj.velocities[slice(newTimeInterval.first - obj.getLastInstant(), newTimeInterval.last + 1 - obj.getLastInstant())]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1424 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1425 newVelocities = None
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1426 if obj.hasFeatures():
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1427 newFeatures = [f.croppedTimeInterval(value, after) for f in obj.features]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1428 else:
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1429 newFeatures = None
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1430 res = MovingObject(obj.getNum(), newTimeInterval, newPositions, newVelocities, obj.geometry, obj.userType, obj.nObjects)
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1431 res.features = newFeatures
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1432 res.featureNumbers = obj.featureNumbers
1079
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1433 #if hasattr(obj, 'projectedPositions'):
845d694af7b8 reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1434 # res.projectedPositions = obj.projectedPositions[slice(newTimeInterval.first, newTimeInterval.last+1)]
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1435 return res
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1436
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
1437
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1438 @staticmethod
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1439 def aggregateTrajectories(features, interval = None, aggFunc = mean):
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1440 'Computes the aggregate trajectory from list of MovingObject features'
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1441 positions = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1442 velocities = Trajectory()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1443 if interval is None:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1444 inter = TimeInterval.unionIntervals([f.getTimeInterval() for f in features])
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1445 else:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1446 inter = interval
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1447 for t in inter:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1448 points = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1449 vels = []
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1450 for f in features:
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1451 if f.existsAtInstant(t):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1452 points.append(f.getPositionAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1453 vels.append(f.getVelocityAtInstant(t))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1454 positions.addPosition(Point.agg(points, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1455 velocities.addPosition(Point.agg(vels, aggFunc))
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1456 return inter, positions, velocities
995
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1457
349cd5e73f79 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 994
diff changeset
1458 @staticmethod
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 904
diff changeset
1459 def generate(num, p, v, timeInterval):
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1460 nPoints = int(timeInterval.length())
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1461 positions = Trajectory.generate(p, v, nPoints)
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1462 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints]))
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1463
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1464 def updatePositions(self):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1465 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval())
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1466
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1467 @staticmethod
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1468 def concatenate(obj1, obj2, num = None, newFeatureNum = None):
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1469 '''Concatenates two objects, whether overlapping temporally or not
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1470
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1471 Positions will be recomputed if features are merged
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1472 Otherwise, only featureNumbers and/or features will be merged'''
997
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1473 if num is None:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1474 newNum = obj1.getNum()
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1475 else:
4f3387a242a1 updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 996
diff changeset
1476 newNum = num
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1477 commonTimeInterval = obj1.commonTimeInterval(obj2)
1180
dc28364f34b9 minor cleanup
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1179
diff changeset
1478 if commonTimeInterval.empty(): # and emptyInterval.length() >= 2: not needed 2 to include situations successive positions, but issues with missing last velocity and reloading
dc28364f34b9 minor cleanup
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1179
diff changeset
1479 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()), max(obj1.getFirstInstant(),obj2.getFirstInstant()))
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1480 if newFeatureNum is None:
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1481 print('Not merging objects {} and {}, missing new feature number'.format(obj1.getNum(),obj2.getNum()))
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1482 return None, None
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1483 else:
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1484 if obj1.existsAtInstant(emptyInterval.last):
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1485 firstObject = obj2
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1486 secondObject = obj1
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1487 else:
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1488 firstObject = obj1
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1489 secondObject = obj2
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1490 v = (secondObject.getPositionAtInstant(emptyInterval.last)-firstObject.getPositionAtInstant(emptyInterval.first)).divide(emptyInterval.length()-1)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1491 positions = copy.deepcopy(firstObject.getPositions())
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1492 velocities = copy.deepcopy(firstObject.getPositions())
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1493 featurePositions = Trajectory()
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1494 featureVelocities = Trajectory()
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1495 p = firstObject.getPositionAtInstant(emptyInterval.first)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1496 # init new feature with position at last instant of 1st obj
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1497 featurePositions.addPosition(p)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1498 featureVelocities.addPosition(v)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1499 for t in range(emptyInterval.first+1, emptyInterval.last):
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1500 p=p+v
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1501 positions.addPosition(p)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1502 velocities.addPosition(v)
1134
4b2a55d570c1 resolve issue for short features when merging objects manually
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1133
diff changeset
1503 featurePositions.addPosition(p)
4b2a55d570c1 resolve issue for short features when merging objects manually
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1133
diff changeset
1504 featureVelocities.addPosition(v)
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1505 # last position to feature
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1506 p = secondObject.getPositionAtInstant(emptyInterval.last)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1507 v = secondObject.getVelocityAtInstant(emptyInterval.last)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1508 featurePositions.addPosition(p)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1509 featureVelocities.addPosition(v)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1510 # copy second trajectory
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1511 positions.append(secondObject.getPositions())
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1512 velocities.append(secondObject.getVelocities())
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1513 newObject = MovingObject(newNum, TimeInterval(firstObject.getFirstInstant(), secondObject.getLastInstant()), positions, velocities, nObjects = 1)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1514 newFeature = MovingObject(newFeatureNum, emptyInterval, featurePositions, featureVelocities)
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1515 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1516 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers+[newFeatureNum]
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1517 if obj1.hasFeatures() and obj2.hasFeatures():
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1518 newObject.features = obj1.getFeatures()+obj2.getFeatures()+[newFeature]
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1519 else: # time intervals overlap
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1520 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1521 newObject = MovingObject(newNum, newTimeInterval, nObjects = 1) # hypothesis is that it's the same object being reunited
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1522 newFeature = None
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1523 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'):
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1524 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1525 if obj1.hasFeatures() and obj2.hasFeatures():
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1526 newObject.features = obj1.getFeatures()+obj2.getFeatures()
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1527 newObject.updatePositions()
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1528 else:
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1529 print('Cannot update object positions without features')
1018
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1530 # user type
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1531 if obj1.getUserType() != obj2.getUserType():
d7afc59f6966 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1016
diff changeset
1532 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()]))
1019
5d2f6afae35b work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1018
diff changeset
1533 newObject.setUserType(obj1.getUserType())
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1170
diff changeset
1534 return newObject, newFeature
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1535
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1536 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1537 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1538 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
1539 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
1540 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1541 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant())
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1136
diff changeset
1542 obj = MovingObject(self.num, intersection, self.positions.subTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType, self.nObjects)
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
1543 if self.velocities is not None:
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1136
diff changeset
1544 obj.velocities = self.velocities.subTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1545 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1546 else:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
1547 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
1548 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1549
726
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1550 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
1551 '''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
1552 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
1553 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1554 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
1555 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1556 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
1557 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
1558 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
1559 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
1560
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1561 #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
1562 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
1563 # '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
1564 l = 0
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1565 intervalLabels = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1566 prev = True
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1567 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
1568 if i:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1569 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
1570 l += 1
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1571 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
1572 else:
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1573 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
1574 prev = i
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1575 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
1576 subObjects = []
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1577 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
1578 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
1579 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
1580 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
1581 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
1582 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
1583
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1584 return subObjects
43ae3a1af290 added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 723
diff changeset
1585
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1586 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1587 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1588
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1589 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1590 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1591
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1592 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
1593 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
1594
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1595 def computeCumulativeDistances(self):
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1596 self.positions.computeCumulativeDistances()
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
1597
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1598 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1599 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1600 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1601 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1602 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1603
1123
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1604 def getCurvilinearVelocities(self):
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1605 if hasattr(self, 'curvilinearVelocities'):
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1606 return self.curvilinearVelocities
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1607 else:
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1608 return None
0548a78852b8 added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1122
diff changeset
1609
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1610 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
1611 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
1612 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
1613 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
1614 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1615 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
1616 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1617 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1618 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1619 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
1620 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
1621 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
1622 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
1623 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1624 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
1625 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
1626 plot(instants, coords, options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1627 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1628 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
1629 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
1630 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
1631
1116
a3982d591a61 placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1115
diff changeset
1632 def interpolateCurvilinearPositions(self, t, alignments = None):
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1633 '''Linear interpolation of curvilinear positions, t being a float'''
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1634 if hasattr(self, 'curvilinearPositions'):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1635 if self.existsAtInstant(t):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1636 i = int(floor(t))
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1637 p1 = self.getCurvilinearPositionAtInstant(i)
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1638 p2 = self.getCurvilinearPositionAtInstant(i+1)
1114
7135b5eaa6b4 correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1112
diff changeset
1639 if p1[2] == p2[2]:
7135b5eaa6b4 correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1112
diff changeset
1640 alpha = t-float(i)
7135b5eaa6b4 correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1112
diff changeset
1641 return [(1-alpha)*p1[0]+alpha*p2[0], (1-alpha)*p1[1]+alpha*p2[1], p1[2]]
1117
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1116
diff changeset
1642 elif alignments is not None: # can be done only if assuming there is no missing alignmentn where the object has no coordinate
1116
a3982d591a61 placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1115
diff changeset
1643 pass # TODO
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1644 else:
1116
a3982d591a61 placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1115
diff changeset
1645 print('Object {} changes lane at {} and alignments are not provided'.format(self.getNum(), t))
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1646 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1647 print('Object {} does not exist at {}'.format(self.getNum(), t))
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1648 else:
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1649 print('Object {} has no curvilinear positions'.format(self.getNum()))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1650
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1651 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
1652 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
1653
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1654 def getNObjects(self):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1655 return self.nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1656
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1657 def setNObjects(self, nObjects):
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1658 if nObjects is None or nObjects >= 1:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1659 self.nObjects = nObjects
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1660 else:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
1661 print('Number of objects represented by object {} must be greater or equal to 1 ({})'.format(self.getNum(), nObjects))
1075
67144f26609e Updates crop
Wendlasida
parents: 1044
diff changeset
1662 self.nObjects = None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1663
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
1664 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
1665 '''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
1666 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
1667 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
1668 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
1669 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
1670 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
1671 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
1672
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
1673 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
1674 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
1675
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
1676 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
1677 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
1678
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
1679 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
1680 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
1681 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
1682 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
1683 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
1684
869
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1685 def getNLongestFeatures(self, nFeatures = 1):
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1686 if self.features is None:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1687 return []
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1688 else:
eb2f8ce2b39d added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 863
diff changeset
1689 tmp = utils.sortByLength(self.getFeatures(), reverse = True)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1690 return tmp[:min(len(tmp), nFeatures)]
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1691
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
1692 def getFeatureNumbersOverTime(self):
666
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1693 '''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
1694 dict instant -> number of features'''
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1695 if self.hasFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1696 featureNumbers = {}
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1697 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1698 n = 0
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1699 for f in self.getFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1700 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1701 n += 1
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1702 featureNumbers[t]=n
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1703 return featureNumbers
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1704 else:
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1705 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
1706 return None
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1707
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1708 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
1197
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1709 '''Returns the scalar speed'''
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1710 speeds = self.getVelocities().norm()
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1711 if nInstantsIgnoredAtEnds > 0:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1712 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1713 return speeds[n:-n]
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1714 else:
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
1715 return speeds
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1716
1197
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1717 def getAccelerations(self, fromSpeeds = True, nInstantsIgnoredAtEnds = 0):
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1718 '''Returns the scalar acceleration by differentiating the speeds (fromSpeeds = True) or by differentiating the velocity (vector) and taking the norm (frompSpeeds = False. In the second case, speed is always positive'''
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1719 if fromSpeeds:
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1720 speeds = array(self.getSpeeds())
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1721 accelerations = speeds[1:]-speeds[:-1]
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1722 else:
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1723 accelerations = self.getVelocities().differentiate().norm()
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1724 if nInstantsIgnoredAtEnds > 0:
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1725 n = min(nInstantsIgnoredAtEnds, int(floor(len(accelerations)/2.)))
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1726 return accelerations[n:-n]
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1727 else:
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1728 return accelerations
0475b4cd0cfb adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1196
diff changeset
1729
1196
d5566af60a69 correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1195
diff changeset
1730 def getAccelerationsSG(self, window_length, polyorder, delta=1.0, axis=-1, mode='nearest', cval=0.0, nInstantsIgnoredAtEnds = 0):
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1731 '''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
1732 Caution about previously filtered data'''
1193
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
1733 speeds = self.getSpeeds()
1195
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1734 wlength = min(window_length, len(speeds))
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1735 if wlength % 2 == 0:
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1736 wlength -=1
1193
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
1737 filtered = savgol_filter(speeds, wlength, min(wlength-1, polyorder), 1, delta, axis, mode, cval)
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
1738 if nInstantsIgnoredAtEnds >= 1:
1195
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1739 if nInstantsIgnoredAtEnds >= len(speeds)/2:
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1740 n = int(round(len(speeds)/2))-1
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1741 else:
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1742 n = nInstantsIgnoredAtEnds
27a6a7f9b972 adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1193
diff changeset
1743 return filtered[n:-n]
1193
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
1744 else:
d324305c1240 solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1190
diff changeset
1745 return filtered
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1746
633
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1747 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1748 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
1749 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
1750
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1751 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1752 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1753
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1754 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1755 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1756
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1757 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1758 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
1759
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1760 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1761 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
1762
1097
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1763 def getCurvilinearPositionAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1764 return self.curvilinearPositions[i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1765
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1766 def getCurvilinearVelocityAt(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1767 return self.curvilinearVelocities[i]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1768
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1769 def getCurvilinearPositionAtInstant(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1770 return self.curvilinearPositions[i-self.getFirstInstant()]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1771
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1772 def getCurvilinearVelocityAtInstant(self, i):
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1773 return self.curvilinearVelocities[i-self.getFirstInstant()]
b3f8b26ee838 modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1096
diff changeset
1774
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1775 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1776 return self.positions.getXCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1777
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1778 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1779 return self.positions.getYCoordinates()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1780
1222
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1781 def setStationary(self):
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1782 '''Resets the position to the mean of existing positions and sets speeds to 0
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1783 And does the same to the features
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1784 TODO: other options (provide x, y, what to do with features?)'''
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1785 meanPosition = self.positions.agg(mean)
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1786 self.positions.reset(meanPosition.x, meanPosition.y)
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1787 self.velocities.reset(0,0)
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1788 if self.hasFeatures():
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1789 for f in self.getFeatures():
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1790 f.setStationary()
69b531c7a061 added methods to reset trajectories and change object coordinates (including features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1219
diff changeset
1791
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1792 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
1793 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1794 objNum = self.getNum()
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1795 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1796 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
1797 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
1798 for f in self.getFeatures():
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1799 f.positions.plot('r', True, timeStep, **kwargs)
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1800 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
1801 else:
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1802 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
1803
851
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1804 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
1805 if withIds:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1806 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
1807 else:
07fb949ff98f added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 845
diff changeset
1808 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
1809
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1810 def plotOutlineAtInstant(self, t, options = '', withVelocity = False, velocityMultiply = 5, arrowWidth=0.1, **kwargs):
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
1811 if self.hasFeatures():
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
1812 points = [f.getPositionAtInstant(t) for f in self.getFeatures()]
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1203
diff changeset
1813 Point.plotAll(points, True, options, **kwargs)
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1814 if withVelocity:
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1815 p = self.getPositionAtInstant(t)
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1816 v = self.getVelocityAtInstant(t)*velocityMultiply
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1817 arrow(p.x, p.y, v.x, v.y, width=arrowWidth)
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1197
diff changeset
1818
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1819 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
1820 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
1821
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1822 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
1823 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
1824 coef = utils.linearRegression(list(range(len(speeds))), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1825 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0]))
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1826 if display:
672
5473b7460375 moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 666
diff changeset
1827 from matplotlib.pyplot import figure, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1828 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1829 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1830 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1831 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1832 plot(list(self.getTimeInterval()), speeds)
877
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1833 figure(3)
d1ff6917d082 added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 869
diff changeset
1834 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1835
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1836 @staticmethod
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1837 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
1838 '''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
1839 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
1840 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
1841 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
1842 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1843 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
1844 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
1845 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1846 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1847 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1848 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1849 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
1850 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1851 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
1852
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1853 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1854 def distances(obj1, obj2, instant1, _instant2 = None):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1855 '''Returns the distances between all features of the 2 objects
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1856 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
1857 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
1858 if _instant2 is None:
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1859 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1860 else:
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1861 instant2 = _instant2
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1862 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1863 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1864 return cdist(positions1, positions2, metric = 'euclidean')
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1865
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1866 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1867 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1868 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1869
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1870 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1871 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1872 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
1873
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1874 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1875 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1876 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
1877 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1878 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1879 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1880 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1881 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
1882 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1883 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1884 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1885 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1886 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1887 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
1888 return None
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1889
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1890 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1891 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1892 self.endRouteID = endRouteID
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1893
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1894 def getInstantsCrossingLine(self, p1, p2, computeOrientations = False):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
1895 '''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
1896 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
1897 empty list if there is no crossing'''
1170
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1898 indices, intersections, rightToLeftOrientations = self.positions.getIntersections(p1, p2, computeOrientations)
b55adb13f262 added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1146
diff changeset
1899 return [t+self.getFirstInstant() for t in indices], intersections, rightToLeftOrientations
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
1900
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1901 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
1902 '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
1903 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
1904 self.prototypeSimilarities = []
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1905 for proto in prototypes:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
1906 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
1907 similarities = lcss.similarityTable[-1, :-1].astype(float)
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1908 self.prototypeSimilarities.append(similarities/minimum(arange(1., len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities))))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1909
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
1910 @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
1911 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
1912 '''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
1913
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
1914 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
1915 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
1916 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
1917 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
1918 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
1919 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
1920 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
1921 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
1922 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
1923 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
1924 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
1925 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
1926 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
1927 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
1928 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
1929 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
1930 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
1931 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
1932 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
1933
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
1934 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1935 '''Predicts the position of object at instant+deltaT,
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1936 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
1937 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
1938
1086
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1939 def projectCurvilinear(self, alignments, halfWidth = 3):
8734742c08c0 major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1085
diff changeset
1940 self.curvilinearPositions = CurvilinearTrajectory.fromTrajectoryProjection(self.getPositions(), alignments, halfWidth)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1941
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1942 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1943 '''Computes the trajectory as the mean of all features
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1944 if a feature exists, its position is
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
1945
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1946 Warning work in progress
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1947 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1948 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1949 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1950 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1951 else:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1952 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1953 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
1954 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
1955 for j in range(i):
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1956 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1957 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1958 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1959 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1960 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
1961 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
1962 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
1963 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
1964 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
1965 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1966
1212
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
1967 def getBoundingPolygon(self, t, shape = 'raw'):
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1968 '''Returns a bounding box for the feature positions at instant
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1969 bounding box format is a list of points
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1970 shape is the type of output shape:
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1971 - raw means the list of feature positions
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1972 - rect means the bounding rectangle aligned with velocity'''
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1973 if self.hasFeatures():
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1974 positions = [f.getPositionAtInstant(t) for f in self.getFeatures() if f.existsAtInstant(t)]
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1975 if shape == 'rect':
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1976 return Point.boundingRectangle(positions, self.getVelocityAtInstant(t))
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1977 elif shape == 'raw':
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1978 return positions
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1979 else:
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1980 print('Unknown shape')
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
1981 return None
1106
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1982 else:
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1983 print('Object {} has no features'.format(self.getNum()))
799ef82caa1a added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1100
diff changeset
1984 return None
1109
6e8ab471ebd4 minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1106
diff changeset
1985
1132
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
1986 def motDistanceAtInstant(self, obj, instant):
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
1987 '''Returns distance for computing CLEAR MOT metrics
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
1988 (returns an actual value, otherwise munkres does not terminate)'''
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
1989 return Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant))
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
1990
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
1991 ###
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
1992 # 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
1993 ###
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1994 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
1995 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1996 slow: non-motorized -> pedestrians
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 583
diff changeset
1997 fast: motorized -> cars
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
1998
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1999 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
2000 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
2001 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
2002 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
2003 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
2004 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
2005 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
2006
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2007 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
2008 '''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
2009 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
2010 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
2011 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
2012
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
2013 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
2014 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
2015 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
2016 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
2017 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
2018 return x'''
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
2019 if not hasattr(self, 'aggregatedSpeed'):
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2020 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
2021 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
2022 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
2023 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
2024 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
2025 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
2026
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
2027 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
2028 '''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
2029
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2030 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2031 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2032 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2033 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2034 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2035 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2036 else:
959
4f32d82ca390 corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 956
diff changeset
2037 self.appearanceClassifier = carClassifier
928
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
2038 # project feature positions
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
2039 if self.hasFeatures():
063d1267585d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 921
diff changeset
2040 for f in self.getFeatures():
935
0e63a918a1ca updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
2041 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
2042 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
2043 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
2044
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
2045 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
2046 '''Extracts the image box around the object
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2047 (of square size max(width, height) of the box around the features,
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
2048 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
2049 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
2050 and applies the SVM model on it'''
929
be28a3538dc9 work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 928
diff changeset
2051 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
2052 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
2053 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
2054 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
2055 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
2056 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
2057
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
2058 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
2059 '''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
2060 (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
2061
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2062 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
2063 With default parameters, the general (ped-bike-car) classifier will be used
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2064
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2065 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2066 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'):
845
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 828
diff changeset
2067 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
2068 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
2069
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2070 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
2071 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
2072 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
2073 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
2074 # compute P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2075 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed
1226
d478d3122804 change of bicycle to cyclist
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1222
diff changeset
2076 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['cyclist']: 1.}
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
2077 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
2078 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
2079 # compute P(Class|Appearance)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
2080 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
2081 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
2082 for t in self.userTypes:
898
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
2083 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
2084 # 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
2085 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
2086 for userTypeNum in userTypeProbabilities:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
2087 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
2088 # 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
2089 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
2090 self.setUserType(userType2Num['unknown'])
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
2091 else:
1fc901d983ed better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
2092 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
2093
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
2094 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
2095 '''Classifies the object based on its location (projected to image space)
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2096 areas is a dictionary of matrix of the size of the image space
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
2097 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
2098
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
2099 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
2100 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
2101 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
2102 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
2103 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
2104 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
2105 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
2106 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
2107 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
2108 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
2109 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
2110 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
2111 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
2112 # 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
2113 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
2114
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2115 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2116 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2117 '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
2118 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
2119 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
2120 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
2121
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2122 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2123 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
2124 '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
2125 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
2126 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
2127
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
2128
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2129 class Prototype(object):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2130 'Class for a prototype'
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2131
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2132 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
2133 self.filename = filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2134 self.num = num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2135 self.trajectoryType = trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2136 self.nMatchings = nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2137 self.movingObject = None
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2138
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2139 def getFilename(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2140 return self.filename
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2141 def getNum(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2142 return self.num
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2143 def getTrajectoryType(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2144 return self.trajectoryType
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2145 def getNMatchings(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2146 return self.nMatchings
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2147 def getMovingObject(self):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2148 return self.movingObject
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2149 def setMovingObject(self, o):
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 918
diff changeset
2150 self.movingObject = o
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
2151 def __str__(self):
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
2152 return '{} {} {}'.format(self.filename, self.num, self.trajectoryType)
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
2153 def __eq__(self, p2):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
2154 return self.filename == p2.filename and self.num == p2.num and self.trajectoryType == p2.trajectoryType
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
2155 def __hash__(self):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
2156 return hash((self.filename, self.num, self.trajectoryType))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
2157
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
2158 ##################
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
2159 # Annotations
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
2160 ##################
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
2161
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
2162 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
2163 '''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)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
2164 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)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 762
diff changeset
2165 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
2166
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2167 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
2168
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2169 Its center is the center of the box (generalize to other shapes?)
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
2170 (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
2171 '''
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
2172
1132
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
2173 def __init__(self, topLeftPositions, bottomRightPositions, num = None, timeInterval = 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
2174 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
2175 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
2176 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
2177
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2178 def computeCentroidTrajectory(self, homography = None):
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
2179 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
2180 if homography is not None:
936
56cc8a1f7082 removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
2181 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
2182
1081
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2183 def matchObjects(obj1, obj2, instant, matchingDistance):
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2184 '''Indicates if obj matches obj2 with threshold matchingDistance
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2185 Returns distance if below matchingDistance, matchingDistance+1 otherwise
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2186 (returns an actual value, otherwise munkres does not terminate)'''
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2187 d = Point.distanceNorm2(obj1.getPositionAtInstant(instant), obj2.getPositionAtInstant(instant))
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2188 if d < matchingDistance:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2189 return d
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2190 else:
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2191 return matchingDistance + 1
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2192
346b41cbc81a added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1079
diff changeset
2193 # TODO class to have different matching methods, eg with something like matchObjects
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2194 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2195 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2196
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2197 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2198 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008)
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
2199
1190
d24d57e4de24 work on optimization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1185
diff changeset
2200 objects and annotations are supposed to be 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
2201 current implementation is BBMovingObject (bounding boxes)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2202 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2203
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2204 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2205 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2206
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2207 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
2208 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
2209 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2210 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
2211 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2212
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2213 if returnMatches is True, return as 2 new arguments the GT and TO matches
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2214 matches is a dict
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2215 matches[i] is the list of matches for GT/TO i
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2216 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2217 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm)
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2218
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
2219 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
2220 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2221 from munkres import Munkres
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2222
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2223 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2224 dist = 0. # total distance between GT and TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2225 ct = 0 # number of associations between GT and tracker output in each frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2226 gt = 0 # number of GT.frames
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2227 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2228 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2229 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2230 matches = {} # match[i] is the tracker track associated with GT i (using object references)
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2231 if returnMatches:
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2232 gtMatches = {a.getNum():{} for a in annotations}
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2233 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
2234 else:
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2235 gtMatches = None
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2236 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
2237 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
2238 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2239 # go through currently matched GT-TO and check if they are still matched withing matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2240 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2241 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2242 if a.existsAtInstant(t) and matches[a].existsAtInstant(t):
1132
09ef0dc994a0 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1126
diff changeset
2243 d = a.motDistanceAtInstant(matches[a], t)
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2244 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2245 dist += d
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
2246 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2247 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2248 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2249 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2250 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2251 del matches[a]
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2252
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2253 # match all unmatched GT-TO
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
2254 matchedGTs = list(matches.keys())
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
2255 matchedTOs = list(matches.values())
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2256 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2257 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2258 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2259 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2260 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2261 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2262 for a in unmatchedGTs:
1133
c4d9c270f999 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1132
diff changeset
2263 costs.append([a.motDistanceAtInstant(o, t) for o in unmatchedTOs])
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2264 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2265 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2266 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2267 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2268 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2269 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2270 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)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 997
diff changeset
2271 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.items()]))
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2272 if returnMatches:
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
2273 for a,o in matches.items():
723
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2274 gtMatches[a.getNum()][t] = o.getNum()
e14e2101a5a9 returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
2275 toMatches[o.getNum()][t] = a.getNum()
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
2276
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2277 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2278 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2279 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2280 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2281 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2282 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2283 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2284 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2285 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2286 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2287 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2288 mismatches.append(a)
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
2289 elif matches[a] in list(previousMatches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2290 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2291 for a in previousMatches:
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
2292 if a not in matches and previousMatches[a] in list(matches.values()):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2293 mismatches.append(previousMatches[a])
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2294 if debug:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2295 for mm in set(mismatches):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 959
diff changeset
2296 print('{} {}'.format(type(mm), mm.getNum()))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2297 # some object mismatches may appear twice
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2298 mme += len(set(mismatches))
1110
6bbcd9433732 formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1109
diff changeset
2299
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2300 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2301 motp = dist/ct
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2302 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
2303 motp = None
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2304 if gt > 0:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2305 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2306 else:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
2307 mota = None
956
196a1fd498ba removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
2308 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
2309
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2310 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2311 '''Colors is a PlottingPropertyValues instance'''
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2312 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2313 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2314 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
2315 obj.plot(colors.get(obj.userType))
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2316 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2317
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
2318
1016
9b53be469a36 getting ready for pull request
Wendlasida
parents: 1014
diff changeset
2319 if __name__ == "__main__":
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2320 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2321 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2322 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
2323 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2324 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2325 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
2326 #doctest.testfile("example.txt")
1096
9a32d63bae3f update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1094
diff changeset
2327 if shapelyAvailable:
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
2328 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
2329 unittest.TextTestRunner().run(suite)