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annotate python/moving.py @ 680:da1352b89d02 dev

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classification is working
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Jun 2015 02:25:30 +0200
parents ab3fdff42624
children fbe29be25501
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils, cvutils
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5 from base import VideoFilenameAddable
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6
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7 from math import sqrt, atan2, cos, sin
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8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32
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9 from matplotlib.pyplot import plot
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10 from scipy.stats import scoreatpercentile
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11 from scipy.spatial.distance import cdist
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12
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13 try:
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14 from shapely.geometry import Polygon, Point as shapelyPoint
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15 from shapely.prepared import prep
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16 shapelyAvailable = True
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17 except ImportError:
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18 print('Shapely library could not be loaded')
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19 shapelyAvailable = False
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22 class Interval(object):
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23 '''Generic interval: a subset of real numbers (not iterable)'''
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24 def __init__(self, first=0, last=-1, revert = False):
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25 if revert and last<first:
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26 self.first=last
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27 self.last=first
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28 else:
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29 self.first=first
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30 self.last=last
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32 def __str__(self):
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33 return '[{0}, {1}]'.format(self.first, self.last)
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34
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35 def __repr__(self):
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36 return self.__str__()
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38 def empty(self):
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39 return self.first > self.last
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40
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41 def center(self):
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42 return (self.first+self.last)/2.
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43
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44 def length(self):
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45 '''Returns the length of the interval'''
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46 return float(max(0,self.last-self.first))
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47
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48 def equal(self, i2):
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49 return self.first==i2.first and self.last == i2.last
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51 def getList(self):
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52 return [self.first, self.last]
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53
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54 def contains(self, instant):
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55 return (self.first<=instant and self.last>=instant)
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57 def inside(self, interval2):
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58 '''Indicates if the temporal interval of self is comprised in interval2'''
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59 return (self.first >= interval2.first) and (self.last <= interval2.last)
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61 @classmethod
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62 def union(cls, interval1, interval2):
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63 '''Smallest interval comprising self and interval2'''
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64 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last))
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66 @classmethod
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67 def intersection(cls, interval1, interval2):
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68 '''Largest interval comprised in both self and interval2'''
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69 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last))
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70
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71 def distance(self, interval2):
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72 if not Interval.intersection(self, interval2).empty():
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73 return 0
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74 elif self.first > interval2.last:
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75 return self.first - interval2.last
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76 elif self.last < interval2.first:
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77 return interval2.first - self.last
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78 else:
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79 return None
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80
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81 def unionIntervals(intervals):
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82 'returns the smallest interval containing all intervals'
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83 inter = intervals[0]
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84 for i in intervals[1:]:
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85 inter = Interval.union(inter, i)
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86 return inter
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87
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88
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89 class TimeInterval(Interval):
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90 '''Temporal interval: set of instants at fixed time step, between first and last, included
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91
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92 For example: based on frame numbers (hence the modified length method)
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93 It may be modified directly by setting first and last'''
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94
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95 def __init__(self, first=0, last=-1):
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96 super(TimeInterval, self).__init__(first, last, False)
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97
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98 @staticmethod
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99 def fromInterval(inter):
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100 return TimeInterval(inter.first, inter.last)
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101
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102 def __getitem__(self, i):
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103 if not self.empty():
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104 if isinstance(i, int):
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105 return self.first+i
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106 else:
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107 raise TypeError, "Invalid argument type."
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108 #elif isinstance( key, slice ):
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109
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110 def __iter__(self):
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111 self.iterInstantNum = -1
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112 return self
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113
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114 def next(self):
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115 if self.iterInstantNum >= self.length()-1:
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116 raise StopIteration
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117 else:
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118 self.iterInstantNum += 1
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119 return self[self.iterInstantNum]
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120
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121 def length(self):
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122 '''Returns the length of the interval'''
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123 return float(max(0,self.last-self.first+1))
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124
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125 # class BoundingPolygon:
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126 # '''Class for a polygon bounding a set of points
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127 # with methods to create intersection, unions...
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128 # '''
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129 # We will use the polygon class of Shapely
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130
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131 class STObject(object):
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132 '''Class for spatio-temporal object, i.e. with temporal and spatial existence
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133 (time interval and bounding polygon for positions (e.g. rectangle)).
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134
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135 It may not mean that the object is defined
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136 for all time instants within the time interval'''
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diff changeset
137
7
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parents: 6
diff changeset
138 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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parents: 6
diff changeset
139 self.num = num
2
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parents: 0
diff changeset
140 self.timeInterval = timeInterval
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parents: 0
diff changeset
141 self.boundingPolygon = boundingPolygon
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parents: 0
diff changeset
142
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
143 def empty(self):
7
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parents: 6
diff changeset
144 return self.timeInterval.empty() or not self.boudingPolygon
2
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parents: 0
diff changeset
145
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
146 def getNum(self):
211
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parents: 203
diff changeset
147 return self.num
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parents: 203
diff changeset
148
2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
149 def getFirstInstant(self):
40
9f16aee24b7e corrected bug for first and last of TimeInterval
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parents: 39
diff changeset
150 return self.timeInterval.first
2
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parents: 0
diff changeset
151
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parents: 0
diff changeset
152 def getLastInstant(self):
40
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parents: 39
diff changeset
153 return self.timeInterval.last
2
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parents: 0
diff changeset
154
43
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parents: 41
diff changeset
155 def getTimeInterval(self):
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parents: 41
diff changeset
156 return self.timeInterval
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diff changeset
157
108
6efe470ea5e5 added test existsAtInstant to STObject
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parents: 107
diff changeset
158 def existsAtInstant(self, t):
6efe470ea5e5 added test existsAtInstant to STObject
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parents: 107
diff changeset
159 return self.timeInterval.contains(t)
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parents: 107
diff changeset
160
43
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parents: 41
diff changeset
161 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
162 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval())
43
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parents: 41
diff changeset
163
290
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parents: 288
diff changeset
164 class Point(object):
25
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parents: 23
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165 def __init__(self, x, y):
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parents: 23
diff changeset
166 self.x = x
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parents: 23
diff changeset
167 self.y = y
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parents: 23
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168
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parents: 23
diff changeset
169 def __str__(self):
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ab3fdff42624 corrected old format for Point.__str__
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parents: 674
diff changeset
170 return '({:f},{:f})'.format(self.x,self.y)
25
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171
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parents: 23
diff changeset
172 def __repr__(self):
98
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parents: 97
diff changeset
173 return self.__str__()
25
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parents: 23
diff changeset
174
184
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parents: 182
diff changeset
175 def __add__(self, other):
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parents: 182
diff changeset
176 return Point(self.x+other.x, self.y+other.y)
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parents: 182
diff changeset
177
25
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parents: 23
diff changeset
178 def __sub__(self, other):
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parents: 23
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179 return Point(self.x-other.x, self.y-other.y)
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parents: 23
diff changeset
180
451
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diff changeset
181 def __neg__(self):
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diff changeset
182 return Point(-self.x, -self.y)
575
13df64a9ff9d added function to access point class as 2D list
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parents: 574
diff changeset
183
13df64a9ff9d added function to access point class as 2D list
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parents: 574
diff changeset
184 def __getitem__(self, i):
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parents: 574
diff changeset
185 if i == 0:
13df64a9ff9d added function to access point class as 2D list
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parents: 574
diff changeset
186 return self.x
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parents: 574
diff changeset
187 elif i == 1:
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parents: 574
diff changeset
188 return self.y
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parents: 574
diff changeset
189 else:
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parents: 574
diff changeset
190 raise IndexError()
573
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parents: 571
diff changeset
191
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parents: 571
diff changeset
192 def orthogonal(self):
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parents: 571
diff changeset
193 return Point(self.y, -self.x)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
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parents: 411
diff changeset
194
105
9844c69d8fa2 added multiply method to Point
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parents: 104
diff changeset
195 def multiply(self, alpha):
573
cae4e5f3fe9f fixed and simplified getSYfromXY
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parents: 571
diff changeset
196 'Warning, returns a new Point'
105
9844c69d8fa2 added multiply method to Point
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parents: 104
diff changeset
197 return Point(self.x*alpha, self.y*alpha)
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parents: 104
diff changeset
198
623
ce7133cbcdf3 implemented function to concatenate objects
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parents: 622
diff changeset
199 def divide(self, alpha):
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parents: 622
diff changeset
200 'Warning, returns a new Point'
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parents: 622
diff changeset
201 return Point(self.x/alpha, self.y/alpha)
ce7133cbcdf3 implemented function to concatenate objects
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parents: 622
diff changeset
202
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
203 def plot(self, options = 'o', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
204 plot([self.x], [self.y], options, **kwargs)
41
eb78c6edc0c8 added drawing for Point
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parents: 40
diff changeset
205
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
206 def norm2Squared(self):
43
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parents: 41
diff changeset
207 '''2-norm distance (Euclidean distance)'''
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
208 return self.x**2+self.y**2
38
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parents: 30
diff changeset
209
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
210 def norm2(self):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
211 '''2-norm distance (Euclidean distance)'''
38
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parents: 30
diff changeset
212 return sqrt(self.norm2Squared())
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parents: 30
diff changeset
213
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
214 def norm1(self):
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parents: 280
diff changeset
215 return abs(self.x)+abs(self.y)
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parents: 280
diff changeset
216
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parents: 280
diff changeset
217 def normMax(self):
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parents: 280
diff changeset
218 return max(abs(self.x),abs(self.y))
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parents: 280
diff changeset
219
64
c75bcdaed00f added functions for plotting points
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parents: 62
diff changeset
220 def aslist(self):
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parents: 62
diff changeset
221 return [self.x, self.y]
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parents: 62
diff changeset
222
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
223 def astuple(self):
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
224 return (self.x, self.y)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
225
223
c31722fcc9de minor modifications for integer drawing in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
226 def asint(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 214
diff changeset
227 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
228
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
229 if shapelyAvailable:
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parents: 369
diff changeset
230 def asShapely(self):
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parents: 369
diff changeset
231 return shapelyPoint(self.x, self.y)
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parents: 369
diff changeset
232
98
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
233 def project(self, homography):
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
234 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
235 return Point(projected[0], projected[1])
b85912ab4064 refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 97
diff changeset
236
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
237 def inPolygon(self, polygon):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
238 '''Indicates if the point x, y is inside the polygon
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parents: 369
diff changeset
239 (array of Nx2 coordinates of the polygon vertices)
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parents: 369
diff changeset
240
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
241 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
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parents: 91
diff changeset
242
372
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parents: 369
diff changeset
243 Use Polygon.contains if Shapely is installed'''
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
244
372
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parents: 369
diff changeset
245 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
246 counter = 0;
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
247
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
248 p1 = polygon[0,:];
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
249 for i in range(n+1):
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
250 p2 = polygon[i % n,:];
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parents: 369
diff changeset
251 if self.y > min(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
252 if self.y <= max(p1[1],p2[1]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
253 if self.x <= max(p1[0],p2[0]):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
254 if p1[1] != p2[1]:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 369
diff changeset
255 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0];
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parents: 369
diff changeset
256 if p1[0] == p2[0] or self.x <= xinters:
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
257 counter+=1;
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
258 p1=p2
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parents: 74
diff changeset
259 return (counter%2 == 1);
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
260
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
261 @staticmethod
573
cae4e5f3fe9f fixed and simplified getSYfromXY
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parents: 571
diff changeset
262 def fromList(p):
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parents: 571
diff changeset
263 return Point(p[0], p[1])
cae4e5f3fe9f fixed and simplified getSYfromXY
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parents: 571
diff changeset
264
cae4e5f3fe9f fixed and simplified getSYfromXY
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parents: 571
diff changeset
265 @staticmethod
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
266 def dot(p1, p2):
89
f88a19695bba added inner product
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parents: 83
diff changeset
267 'Scalar product'
67
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parents: 66
diff changeset
268 return p1.x*p2.x+p1.y*p2.y
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parents: 66
diff changeset
269
ded58c424783 added indicator computation and modified severity indicator constructor
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parents: 66
diff changeset
270 @staticmethod
90
f84293ad4611 renamed inner to cross product
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parents: 89
diff changeset
271 def cross(p1, p2):
f84293ad4611 renamed inner to cross product
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parents: 89
diff changeset
272 'Cross product'
89
f88a19695bba added inner product
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parents: 83
diff changeset
273 return p1.x*p2.y-p1.y*p2.x
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
274
f88a19695bba added inner product
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 83
diff changeset
275 @staticmethod
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
276 def cosine(p1, p2):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
277 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
278
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
279 @staticmethod
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
280 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
281 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
282
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
283 @staticmethod
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
284 def plotAll(points, **kwargs):
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
285 from matplotlib.pyplot import scatter
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
286 scatter([p.x for p in points],[p.y for p in points], **kwargs)
64
c75bcdaed00f added functions for plotting points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 62
diff changeset
287
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
288 def similarOrientation(self, refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
289 '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
290 return Point.cosine(self, refDirection) >= cosineThreshold
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
291
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
292 @staticmethod
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
293 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
294 '''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
295 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
296 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
297 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
298 dv = v1-v2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
299 dp = p1-p2
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
300 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
301 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
302 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
303
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
304 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
305 if delta >= 0:
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
306 deltaRoot = sqrt(delta)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 501
diff changeset
307 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
308 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
309 if ttc1 >= 0 and ttc2 >= 0:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
310 ttc = min(ttc1,ttc2)
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
311 elif ttc1 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
312 ttc = ttc1
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
313 elif ttc2 >= 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
314 ttc = ttc2
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
315 else: # ttc1 < 0 and ttc2 < 0:
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
316 ttc = None
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
317 else:
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
318 ttc = None
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
319 return ttc
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
320
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
321 @staticmethod
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
322 def midPoint(p1, p2):
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
323 '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
324 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
325
372
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 shapelyAvailable:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
327 def pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
328 '''Optimized tests of a series of points within (Shapely) polygon '''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
329 prepared_polygon = prep(polygon)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
330 return filter(prepared_polygon.contains, points)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
331
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
332 # Functions for coordinate transformation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
333 # From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
334 def subsec_spline_dist(splines):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
335 ''' Prepare list of spline subsegments from a spline list.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
336
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
337 Output:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
338 =======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
339 ss_spline_d[spline #][mode][station]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
340
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
341 where:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
342 mode=0: incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
343 mode=1: cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
344 mode=2: cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
345 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
346 ss_spline_d = []
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
347 #Prepare subsegment distances
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
348 for spline in range(len(splines)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
349 ss_spline_d.append([[],[],[]])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
350 ss_spline_d[spline][0] = zeros(len(splines[spline])-1) #Incremental distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
351 ss_spline_d[spline][1] = zeros(len(splines[spline])-1) #Cumulative distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
352 ss_spline_d[spline][2] = zeros(len(splines[spline])) #Cumulative distance with trailing distance
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
353 for spline_p in range(len(splines[spline])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
354 if spline_p > (len(splines[spline]) - 2):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
355 break
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
356 ss_spline_d[spline][0][spline_p] = utils.pointDistanceL2(splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][(spline_p+1)][0],splines[spline][(spline_p+1)][1])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
357 ss_spline_d[spline][1][spline_p] = sum(ss_spline_d[spline][0][0:spline_p])
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
358 ss_spline_d[spline][2][spline_p] = ss_spline_d[spline][1][spline_p]#sum(ss_spline_d[spline][0][0:spline_p])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
359
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
360 ss_spline_d[spline][2][-1] = ss_spline_d[spline][2][-2] + ss_spline_d[spline][0][-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
361
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
362 return ss_spline_d
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
363
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
364 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
365 ''' Point-projection (Q) on line defined by 2 points (P0,P1).
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
366 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
367 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
368 if(p0x == p1x and p0y == p1y):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
369 return None
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
370 try:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
371 #Approximate slope singularity by giving some slope roundoff; account for roundoff error
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
372 if(round(p0x, 10) == round(p1x, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
373 p1x += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
374 if(round(p0y, 10) == round(p1y, 10)):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
375 p1y += 0.0000000001
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
376 #make the calculation
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
377 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
378 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
379 except ZeroDivisionError:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
380 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
381 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
382 import pdb; pdb.set_trace()
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
383 return Point(X,Y)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
384
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
385 def getSYfromXY(p, splines, goodEnoughSplineDistance = 0.5):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
386 ''' Snap a point p to it's nearest subsegment of it's nearest spline (from the list splines). A spline is a list of points (class Point), most likely a trajectory.
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
387
659
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
388 Output:
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
389 =======
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
390 [spline index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
391 subsegment leading point index,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
392 snapped point,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
393 subsegment distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
394 spline distance,
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
395 orthogonal point offset]
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
396
784298512b60 minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 653
diff changeset
397 or None
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
398 '''
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
399 minOffsetY = float('inf')
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
400 #For each spline
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
401 for spline in range(len(splines)):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
402 #For each spline point index
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
403 for spline_p in range(len(splines[spline])-1):
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
404 #Get closest point on spline
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
405 closestPoint = ppldb2p(p.x,p.y,splines[spline][spline_p][0],splines[spline][spline_p][1],splines[spline][spline_p+1][0],splines[spline][spline_p+1][1])
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
406 if closestPoint is None:
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
407 print('Error: Spline {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(spline, spline_p))
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
408 return None
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
409 # check if the
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
410 if utils.inBetween(splines[spline][spline_p][0], splines[spline][spline_p+1][0], closestPoint.x) and utils.inBetween(splines[spline][spline_p][1], splines[spline][spline_p+1][1], closestPoint.y):
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
411 offsetY = Point.distanceNorm2(closestPoint, p)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
412 if offsetY < minOffsetY:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
413 minOffsetY = offsetY
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
414 snappedSpline = spline
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
415 snappedSplineLeadingPoint = spline_p
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
416 snappedPoint = Point(closestPoint.x, closestPoint.y)
573
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
417 #Jump loop if significantly close
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
418 if offsetY < goodEnoughSplineDistance:
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
419 break
cae4e5f3fe9f fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 571
diff changeset
420 #Get sub-segment distance
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
421 if minOffsetY != float('inf'):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
422 subsegmentDistance = Point.distanceNorm2(snappedPoint, splines[snappedSpline][snappedSplineLeadingPoint])
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
423 #Get cumulative alignment distance (total segment distance)
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
424 splineDistanceS = splines[snappedSpline].getCumulativeDistance(snappedSplineLeadingPoint) + subsegmentDistance
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
425 orthogonalSplineVector = (splines[snappedSpline][snappedSplineLeadingPoint+1]-splines[snappedSpline][snappedSplineLeadingPoint]).orthogonal()
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
426 offsetVector = p-snappedPoint
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
427 if Point.dot(orthogonalSplineVector, offsetVector) < 0:
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
428 minOffsetY = -minOffsetY
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
429 return [snappedSpline, snappedSplineLeadingPoint, snappedPoint, subsegmentDistance, splineDistanceS, minOffsetY]
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
430 else:
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
431 return None
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
432
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
433 def getXYfromSY(s, y, splineNum, splines, mode = 0):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
434 ''' Find X,Y coordinate from S,Y data.
568
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
435 if mode = 0 : return Snapped X,Y
538fb47b3007 minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
436 if mode !=0 : return Real X,Y
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
437 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
438
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
439 #(buckle in, it gets ugly from here on out)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
440 ss_spline_d = subsec_spline_dist(splines)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
441
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
442 #Find subsegment
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
443 snapped_x = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
444 snapped_y = None
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
445 for spline_ss_index in range(len(ss_spline_d[splineNum][1])):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
446 if(s < ss_spline_d[splineNum][1][spline_ss_index]):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
447 ss_value = s - ss_spline_d[splineNum][1][spline_ss_index-1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
448 #Get normal vector and then snap
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
449 vector_l_x = (splines[splineNum][spline_ss_index][0] - splines[splineNum][spline_ss_index-1][0])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
450 vector_l_y = (splines[splineNum][spline_ss_index][1] - splines[splineNum][spline_ss_index-1][1])
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
451 magnitude = sqrt(vector_l_x**2 + vector_l_y**2)
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
452 n_vector_x = vector_l_x/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
453 n_vector_y = vector_l_y/magnitude
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
454 snapped_x = splines[splineNum][spline_ss_index-1][0] + ss_value*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
455 snapped_y = splines[splineNum][spline_ss_index-1][1] + ss_value*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
456
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
457 #Real values (including orthogonal projection of y))
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
458 real_x = snapped_x - y*n_vector_y
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
459 real_y = snapped_y + y*n_vector_x
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
460 break
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
461
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
462 if mode == 0 or (not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
463 if(not snapped_x):
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
464 snapped_x = splines[splineNum][-1][0]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
465 snapped_y = splines[splineNum][-1][1]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
466 return [snapped_x,snapped_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
467 else:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
468 return [real_x,real_y]
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
469
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
470
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
471 class NormAngle(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
472 '''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
473
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
474 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
475 self.norm = norm
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
476 self.angle = angle
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
477
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
478 @staticmethod
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
479 def fromPoint(p):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
480 norm = p.norm2()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
481 if norm > 0:
259
8ab76b95ee72 added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 258
diff changeset
482 angle = atan2(p.y, p.x)
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
483 else:
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
484 angle = 0.
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
485 return NormAngle(norm, angle)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
486
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
487 def __add__(self, other):
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
488 '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
489 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
490
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
491 def getPoint(self):
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
492 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
493
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
494
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
495 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
496 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
497 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
498
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
499 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
500 '''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
501 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
502 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
503 predictedSpeedTheta = speedOrientation+control
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
504 if maxSpeed:
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
505 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
506 predictedPosition = position+predictedSpeedTheta.getPoint()
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
507 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 244
diff changeset
508
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
509
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
510 class FlowVector(object):
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
511 '''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
512 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
513 def __init__(self, position, velocity):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
514 '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
515 self.position = position
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
516 self.velocity = velocity
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
517
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
518 def __add__(self, other):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
519 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
520
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
521 def multiply(self, alpha):
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
522 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
523
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
524 def plot(self, options = '', **kwargs):
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
525 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
526 self.position.plot(options+'x', **kwargs)
184
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
527
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
528 @staticmethod
d70e9b36889c initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 182
diff changeset
529 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
530 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
531
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
532 def intersection(p1, p2, p3, p4):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
533 ''' Intersection point (x,y) of lines formed by the vectors p1-p2 and p3-p4
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
534 http://paulbourke.net/geometry/pointlineplane/'''
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
535 dp12 = p2-p1
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
536 dp34 = p4-p3
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
537 #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
538 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
539 if det == 0.:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
540 return None
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
541 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
542 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
543 return p1+dp12.multiply(ua)
569
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
544
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
545 # def intersection(p1, p2, dp1, dp2):
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
546 # '''Returns the intersection point between the two lines
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
547 # 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
548 # from numpy import matrix
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
549 # from numpy.linalg import linalg
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
550 # A = matrix([[dp1.y, -dp1.x],
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
551 # [dp2.y, -dp2.x]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
552 # 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
553 # [dp2.y*p2.x-dp2.x*p2.y]])
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
554
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
555 # if linalg.det(A) == 0:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
556 # return None
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
557 # else:
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
558 # intersection = linalg.solve(A,B)
0057c04f94d5 work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 567
diff changeset
559 # 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
560
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
561 def segmentIntersection(p1, p2, p3, p4):
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
562 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
563
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
564 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()):
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
565 return None
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 148
diff changeset
566 else:
571
a9c1d61a89b4 corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 570
diff changeset
567 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
568 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
569 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
570 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
571 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
572 and utils.inBetween(p3.y, p4.y, inter.y)):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
573 return inter
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
574 else:
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
575 return None
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
576
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
577 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
578 '''Indicates if the line going through p1 and p2 intersects inside p3, p4'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
579 inter = intersection(p1, p2, p3, p4)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
580 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
581 return inter
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
582 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
583 return None
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
584
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
585
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
586 class Trajectory(object):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
587 '''Class for trajectories: temporal sequence of positions
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
588
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
589 The class is iterable'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
590
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
591 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
592 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
593 self.positions = positions
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
594 else:
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
595 self.positions = [[],[]]
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
596
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
597 @staticmethod
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
598 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
599 t = Trajectory()
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
600 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
601 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
602 for i in xrange(nPoints-1):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
603 p0 += v
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
604 t.addPosition(p0)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
605 return t, Trajectory([[v.x]*nPoints, [v.y]*nPoints])
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
606
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
607 @staticmethod
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
608 def load(line1, line2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
609 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
610 [float(n) for n in line2.split(' ')]])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
611
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
612 @staticmethod
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
613 def fromPointList(points):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
614 t = Trajectory()
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
615 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
616 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
617 t.addPositionXY(p[0],p[1])
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
618 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
619 for p in points:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
620 t.addPosition(p)
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
621 return t
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
622
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
623 def __len__(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
624 return len(self.positions[0])
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
625
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
626 def length(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
627 return self.__len__()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
628
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 581
diff changeset
629 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
630 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
631
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
632 def __getitem__(self, i):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
633 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
634 return Point(self.positions[0][i], self.positions[1][i])
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
635 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
636 raise TypeError, "Invalid argument type."
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
637 #elif isinstance( key, slice ):
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
638
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
639 def __str__(self):
39
e47168f6b694 corrected printing bug
Nicolas Saunier <nico@confins.net>
parents: 38
diff changeset
640 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
641
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
642 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
643 return self.__str__()
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
644
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
645
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
646 def __iter__(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
647 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
648 return self
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
649
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
650 def next(self):
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
651 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
652 raise StopIteration
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
653 else:
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
654 self.iterInstantNum += 1
23
5f2921ad4f7e made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents: 22
diff changeset
655 return self[self.iterInstantNum-1]
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
656
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
657 def setPositionXY(self, i, x, y):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
658 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
659 self.positions[0][i] = x
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
660 self.positions[1][i] = y
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
661
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
662 def setPosition(self, i, p):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
663 self.setPositionXY(i, p.x, p.y)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
664
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
665 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
666 self.positions[0].append(x)
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
667 self.positions[1].append(y)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
668
71
45e958ccd9bd added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 69
diff changeset
669 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
670 self.addPositionXY(p.x, p.y)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
671
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
672 def duplicateLastPosition(self):
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 339
diff changeset
673 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
674 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
675
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
676 @staticmethod
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
677 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
678 if lastCoordinate is None:
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
679 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
680 elif 0 <= lastCoordinate <= len(positions[0]):
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
681 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
682 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 203
diff changeset
683 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
684
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
685 def project(self, homography):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
686 return Trajectory(cvutils.projectTrajectory(homography, self.positions).tolist())
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
687
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
688 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
689 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
690
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
691 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
692 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs)
203
e2f31813ade6 added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 185
diff changeset
693
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
694 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
695 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
696 [x*nPixelsPerUnitDistance for x in self.positions[1]]]
aee4cbac9e0e corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
697 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
698
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
699 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
700 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
701
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
702 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
703 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
704
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
705 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
706 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
707
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
708 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
709 # 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
710 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
711
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
712 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
713 # 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
714 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
715
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
716 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
717 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
718 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
719 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
720 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
721 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
722 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
723 [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
724
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
725 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
726 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
727 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
728 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
729 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
730 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
731 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
732 [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
733
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
734 def multiply(self, alpha):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
735 '''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
736 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
737 [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
738
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
739 def differentiate(self, doubleLastPosition = False):
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
740 diff = Trajectory()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
741 for i in xrange(1, self.length()):
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
742 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
743 if doubleLastPosition:
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
744 diff.addPosition(diff[-1])
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
745 return diff
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
746
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
747 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
748 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
749 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
750 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
751 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
752 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
753
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
754 # def cumulatedDisplacement(self):
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
755 # 'Returns the sum of the distances between each successive point'
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
756 # displacement = 0
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
757 # for i in xrange(self.length()-1):
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
758 # displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
759 # return displacement
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
760
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
761 def computeCumulativeDistances(self):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
762 '''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
763 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
764 self.distances = []
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
765 self.cumulativeDistances = [0.]
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
766 p1 = self[0]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
767 cumulativeDistance = 0.
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
768 for i in xrange(self.length()-1):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
769 p2 = self[i+1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
770 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
771 cumulativeDistance += self.distances[-1]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
772 self.cumulativeDistances.append(cumulativeDistance)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
773 p1 = p2
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
774
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
775 def getDistance(self,i):
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
776 '''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
777 if i < self.length()-1:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
778 return self.distances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
779 else:
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
780 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
781
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
782 def getCumulativeDistance(self, i):
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
783 '''Return the cumulative distance between the beginning and point i'''
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
784 if i < self.length():
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
785 return self.cumulativeDistances[i]
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 575
diff changeset
786 else:
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
787 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
788
381
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
789 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5):
387cc0142211 script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 379
diff changeset
790 '''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
791 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
792 count = 0
383
0ce2210790b1 fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
793 lengthThreshold = float(self.length())*minProportion
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
794 for p in self:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
795 if p.similarOrientation(refDirection, cosineThreshold):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
796 count += 1
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
797 return count >= lengthThreshold
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
798
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
799 def wiggliness(self):
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
800 return self.getCumulativeDistance(self.length()-1)/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
801
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
802 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
803 '''Returns a list of the indices at which the trajectory
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
804 intersects with the segment of extremities p1 and p2
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
805 the list is empty if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
806 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
807 intersections = []
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
808
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
809 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
810 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
811 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
812 p = utils.segmentIntersection(q1, q2, p1, p2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
813 if p is not None:
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
814 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
815 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
816 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
817 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
818 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
819 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
820 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
821 intersections.append(p)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
822 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
823
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
824 def getLineIntersections(self, p1, p2):
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
825 '''Returns a list of the indices at which the trajectory
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
826 intersects with the segment of extremities p1 and p2
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
827 the list is empty if there is no crossing'''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
828 indices = []
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
829 intersections = []
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
830
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
831 for i in xrange(self.length()-1):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
832 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
833 q2=self.__getitem__(i+1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
834 p = utils.segmentLineIntersection(p1, p2, q1, q2)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
835 if p is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
836 if q1.x != q2.x:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
837 ratio = (p.x-q1.x)/(q2.x-q1.x)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
838 elif q1.y != q2.y:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
839 ratio = (p.y-q1.y)/(q2.y-q1.y)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
840 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
841 ratio = 0
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
842 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
843 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
844 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
845
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
846 def getTrajectoryInInterval(self, inter):
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
847 '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
848 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
849 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
850 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
851 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
852 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
853
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
854 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
855 def getTrajectoryInPolygon(self, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
856 '''Returns the trajectory built with the set of points inside the (shapely) polygon'''
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
857 traj = Trajectory()
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
858 points = [p.asShapely() for p in self]
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
859 for p in pointsInPolygon(points, polygon):
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
860 traj.addPositionXY(p.x, p.y)
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
861 return traj
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
862
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
863 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
864 pointsIn = pointsInPolygon([p.asShapely() for p in self], polygon)
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
865 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
866 return len(pointsIn) >= lengthThreshold
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
867 else:
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
868 def getTrajectoryInPolygon(self, polygon):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
869 '''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
870 (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
871 traj = Trajectory()
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
872 for p in self:
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
873 if p.inPolygon(polygon):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
874 traj.addPosition(p)
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
875 return traj
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
876
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
877 def proportionInPolygon(self, polygon, minProportion = 0.5):
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
878 pointsInPolygon = [p.inPolygon(polygon) for p in self]
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
879 lengthThreshold = float(self.length())*minProportion
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
880 return len(pointsInPolygon) >= lengthThreshold
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 626
diff changeset
881
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
882 @staticmethod
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
883 def lcss(t1, t2, lcss):
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 368
diff changeset
884 return lcss.compute(t1, t2)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
885
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
886 class CurvilinearTrajectory(Trajectory):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
887 '''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
888 longitudinal coordinate is stored as first coordinate (exterior name S)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
889 lateral coordiante is stored as second coordinate'''
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
890
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
891 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
892 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
893 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
894 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
895 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
896 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
897 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
898 if lanes is None or len(lanes) != self.length():
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
899 self.lanes = []
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
900 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
901 self.lanes = lanes
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
902
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
903 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
904 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
905 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
906 else:
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
907 raise TypeError, "Invalid argument type."
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
908 #elif isinstance( key, slice ):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
909
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
910 def getSCoordinates(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
911 return self.getXCoordinates()
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
912
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
913 def getLanes(self):
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
914 return self.lanes
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
915
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
916 def addPositionSYL(self, s, y, lane):
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
917 self.addPositionXY(s,y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
918 self.lanes.append(lane)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
919
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
920 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
921 '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
922 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
923
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
924 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
925 self.setPositionXY(i, s, y)
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
926 if i < self.__len__():
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
927 self.lanes[i] = lane
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 318
diff changeset
928
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
929 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
930 diff = CurvilinearTrajectory()
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
931 p1 = self[0]
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
932 for i in xrange(1, self.length()):
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
933 p2 = self[i]
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
934 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], p1[2])
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
935 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
936 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
937 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
938 return diff
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
939
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
940 def getIntersections(self, S1, lane = None):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
941 '''Returns a list of the indices at which the trajectory
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
942 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
943 (in provided lane if lane is not None)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
944 the list is empty if there is no crossing'''
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
945 indices = []
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
946 for i in xrange(self.length()-1):
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
947 q1=self.__getitem__(i)
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
948 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
949 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
950 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
951 return indices
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
952
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
953 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
954 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
955 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
956
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
957 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
958 'car',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
959 '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
960 'motorcycle',
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
961 'bicycle',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
962 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
963 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
964
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
965 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
966
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
967 class MovingObject(STObject, VideoFilenameAddable):
288
e0d41c7f53d4 updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
968 '''Class for moving objects: a spatio-temporal object
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
969 with a trajectory and a geometry (constant volume over time)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
970 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
971 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
972
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 383
diff changeset
973 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']):
290
df58d361f19e refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 288
diff changeset
974 super(MovingObject, self).__init__(num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
975 self.positions = positions
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
976 self.velocities = velocities
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
977 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
978 self.userType = userType
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
979 self.features = None
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
980 # compute bounding polygon from trajectory
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
981
555
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
982 @staticmethod
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
983 def generate(p, v, timeInterval):
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
984 positions, velocities = Trajectory.generate(p, v, int(timeInterval.length()))
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
985 return MovingObject(timeInterval = timeInterval, positions = positions, velocities = velocities)
f13220f765e0 added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
986
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
987 @staticmethod
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
988 def concatenate(obj1, obj2, num = None):
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
989 '''Concatenates two objects supposed to overlap temporally '''
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
990 commonTimeInterval = obj1.commonTimeInterval(obj2)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
991 if commonTimeInterval.empty():
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
992 print('The two objects\' time intervals do not overlap: obj1 {} and obj2 {}'.format(obj1.getTimeInterval(), obj2.getTimeInterval()))
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
993 return None
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
994 else:
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
995 if num is None:
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
996 newNum = obj1.getNum()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
997 else:
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
998 newNum = num
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
999 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval())
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1000 # positions
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1001 positions = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1002 for t in newTimeInterval:
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1003 nTotal = 0.
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1004 p = Point(0.,0.)
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1005 for obj in [obj1, obj2]:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1006 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1007 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1008 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)])
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1009 else:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1010 n = 1.
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1011 p += obj.getPositionAtInstant(t).multiply(n)
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1012 nTotal += n
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1013 assert nTotal>0, 'there should be at least one point for each instant'
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1014 positions.addPosition(p.divide(nTotal))
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1015 # velocities: if any
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1016 if hasattr(obj1, 'velocities') and hasattr(obj2, 'velocities'):
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1017 velocities = Trajectory()
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1018 for t in newTimeInterval:
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1019 nTotal = 0.
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1020 p = Point(0.,0.)
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1021 for obj in [obj1, obj2]:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1022 if obj.existsAtInstant(t):
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1023 if obj.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1024 n = len([f for f in obj.getFeatures() if f.existsAtInstant(t)])
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1025 else:
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1026 n = 1.
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1027 p += obj.getVelocityAtInstant(t).multiply(n)
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1028 nTotal += n
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1029 assert n>0, 'there should be at least one point for each instant'
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1030 velocities.addPosition(p.divide(nTotal))
623
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1031 else:
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1032 velocities = None
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1033 # TODO object envelop (polygon)
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1034 # user type
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1035 if obj1.getUserType() != obj2.getUserType():
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1036 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()]))
ce7133cbcdf3 implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 622
diff changeset
1037
663
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1038 newObject = MovingObject(newNum, newTimeInterval, positions, velocities, userType = obj1.getUserType())
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1039 if obj1.hasFeatures() and obj2.hasFeatures():
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1040 newObject.features = obj1.getFeatures()+obj2.getFeatures()
65a867942eee modified concatenate to take into account features if available
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
1041 return newObject
622
dc8490726d06 corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 621
diff changeset
1042
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1043 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1044 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
1045 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
1046 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
1047 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1048 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1049 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1050 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
1051 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1052 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1053 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1054 print 'The object does not exist at '+str(inter)
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1055 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1056
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1057 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1058 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1059
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1060 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1061 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1062
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1063 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1064 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1065
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1066 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
1067 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
1068
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1069 def getCurvilinearPositions(self):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1070 if hasattr(self, 'curvilinearPositions'):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1071 return self.curvilinearPositions
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1072 else:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1073 return None
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 331
diff changeset
1074
643
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1075 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
1076 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
1077 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
1078 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
1079 if withOrigin:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1080 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
1081 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1082 instants = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1083 coords = []
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1084 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
1085 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
1086 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
1087 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
1088 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1089 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
1090 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
1091 plot(instants, coords, options, **kwargs)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1092 if withOrigin and len(instants)>0:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 659
diff changeset
1093 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
1094 else:
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1095 print('Object {} has no curvilinear positions'.format(self.getNum()))
bfaa6b95dae2 added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1096
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1097 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
1098 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
1099
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1100 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1101 self.features = [features[i] for i in self.featureNumbers]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
1102
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
1103 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
1104 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
1105
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
1106 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
1107 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
1108
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
1109 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
1110 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
1111 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
1112 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
1113 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
1114
666
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1115 def getFeatureNumbers(self):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1116 '''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
1117 dict instant -> number of features'''
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1118 if self.hasFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1119 featureNumbers = {}
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1120 for t in self.getTimeInterval():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1121 n = 0
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1122 for f in self.getFeatures():
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1123 if f.existsAtInstant(t):
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1124 n += 1
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1125 featureNumbers[t]=n
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1126 return featureNumbers
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1127 else:
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1128 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
1129 return None
93633ce122c3 added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
1130
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1131 def getSpeeds(self, nInstantsIgnoredAtEnds = 0):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1132 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.)))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1133 return self.getVelocities().norm()[n:-n]
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
1134
633
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1135 def getSpeedIndicator(self):
f410c8fb07b7 minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
1136 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
1137 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
1138
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1139 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1140 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1141
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1142 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1143 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
1144
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1145 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1146 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
1147
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1148 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1149 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
1150
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1151 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1152 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1153
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1154 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1155 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
1156
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1157 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1158 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
1159 for f in self.getFeatures():
517
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1160 f.positions.plot('r', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1161 self.positions.plot('bx-', True, timeStep, **kwargs)
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1162 else:
47d9970ee954 added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 516
diff changeset
1163 self.positions.plot(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
1164
621
582508610572 merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619 620
diff changeset
1165 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
582508610572 merge and updated consistently that imageheight does not seem necessary anymore for plotting on world image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619 620
diff changeset
1166 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
1167
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1168 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
1169 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
1170
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1171 def speedDiagnostics(self, framerate = 1., display = False):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1172 speeds = framerate*self.getSpeeds()
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1173 coef = utils.linearRegression(range(len(speeds)), speeds)
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1174 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
1175 if display:
672
5473b7460375 moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 666
diff changeset
1176 from matplotlib.pyplot import figure, axis
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1177 figure(1)
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1178 self.plot()
379
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
1179 axis('equal')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1180 figure(2)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1181 plot(list(self.getTimeInterval()), speeds)
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
1182
378
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1183 @staticmethod
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1184 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
1185 '''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
1186 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
1187 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
1188 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
1189 maxDistance = minDistance
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1190 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
1191 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
1192 if d<minDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1193 minDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1194 elif d>maxDistance:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1195 maxDistance = d
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1196 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
1197 else:
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1198 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
1199
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1200 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1201 def distances(obj1, obj2, instant1, _instant2 = None):
653
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1202 '''Returns the distances between all features of the 2 objects
107f1ad02b69 compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1203 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
1204 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
1205 if _instant2 is None:
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1206 instant2 = instant1
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1207 else:
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1208 instant2 = _instant2
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1209 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
1210 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
1211 return cdist(positions1, positions2, metric = 'euclidean')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1212
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1213 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1214 def minDistance(obj1, obj2, instant1, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1215 return MovingObject.distances(obj1, obj2, instant1, instant2).min()
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1216
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1217 @staticmethod
551
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1218 def maxDistance(obj1, obj2, instant, instant2 = None):
dc3739ac2371 rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 550
diff changeset
1219 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
1220
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1221 def maxSize(self):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1222 '''Returns the max distance between features
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1223 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
1224 if hasattr(self, 'features'):
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1225 nFeatures = -1
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1226 tMaxFeatures = 0
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1227 for t in self.getTimeInterval():
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1228 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
1229 if n > nFeatures:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1230 nFeatures = n
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1231 tMaxFeatures = t
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1232 return MovingObject.maxDistance(self, self, tMaxFeatures)
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1233 else:
3805b9639647 added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1234 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
1235 return None
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 596 616
diff changeset
1236
550
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1237 def setRoutes(self, startRouteID, endRouteID):
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1238 self.startRouteID = startRouteID
5668af2ff515 minor naming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 549
diff changeset
1239 self.endRouteID = endRouteID
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 531
diff changeset
1240
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1241 def getInstantsCrossingLane(self, p1, p2):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
1242 '''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
1243 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
1244 empty list if there is no crossing'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1245 indices, intersections = self.positions.getIntersections(p1, p2)
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
1246 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
1247
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
1248 @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
1249 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
1250 '''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
1251
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1252 Returns the smallest time difference when the object positions are within collisionDistanceThreshold'''
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1253 #for i in xrange(int(obj1.length())-1):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1254 # for j in xrange(int(obj2.length())-1):
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1255 # inter = segmentIntersection(obj1.getPositionAt(i), obj1.getPositionAt(i+1), obj2.getPositionAt(i), obj2.getPositionAt(i+1))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1256 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
1257 positions2 = [p.astuple() for p in obj2.getPositions()]
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1258 pets = zeros((int(obj1.length()), int(obj2.length())))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1259 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
1260 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
1261 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
1262 distances = cdist(positions1, positions2, metric = 'euclidean')
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1263 if distances.min() <= collisionDistanceThreshold:
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1264 return pets[distances <= collisionDistanceThreshold].min()
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1265 else:
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1266 return None
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
1267
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
1268 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1269 '''Predicts the position of object at instant+deltaT,
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
1270 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
1271 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
1272
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1273 def projectCurvilinear(self, alignments, ln_mv_av_win=3):
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1274 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()'
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1275 (curvilinearPositions instance) which holds information about the
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1276 curvilinear coordinates using alignment metadata.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1277 From Paul St-Aubin's PVA tools
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1278 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1279
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1280 Input:
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1281 ======
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1282 alignments = a list of alignments, where each alignment is a list of
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1283 points (class Point).
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1284 ln_mv_av_win = moving average window (in points) in which to smooth
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1285 lane changes. As per tools_math.cat_mvgavg(), this term
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1286 is a search *radius* around the center of the window.
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1287
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1288 '''
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1289
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1290 self.curvilinearPositions = CurvilinearTrajectory()
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1291
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1292 #For each point
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1293 for i in xrange(int(self.length())):
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1294 result = getSYfromXY(self.getPositionAt(i), alignments)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1295
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1296 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1297 if(result is None):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1298 print('Warning: trajectory {} at point {} {} has alignment errors (spline snapping)\nCurvilinear trajectory could not be computed'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1299 else:
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1300 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1301 self.curvilinearPositions.addPositionSYL(S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1302
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1303 ## Go back through points and correct lane
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1304 #Run through objects looking for outlier point
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1305 smoothed_lanes = utils.cat_mvgavg(self.curvilinearPositions.getLanes(),ln_mv_av_win)
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1306 ## Recalculate projected point to new lane
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1307 lanes = self.curvilinearPositions.getLanes()
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1308 if(lanes != smoothed_lanes):
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1309 for i in xrange(len(lanes)):
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1310 if(lanes[i] != smoothed_lanes[i]):
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1311 result = getSYfromXY(self.getPositionAt(i),[alignments[smoothed_lanes[i]]])
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1312
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1313 # Error handling
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1314 if(result is None):
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1315 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment.
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1316 print(' Warning: trajectory {} at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(self.getNum(), i, self.getPositionAt(i)))
574
e24eeb244698 first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
1317 else:
579
05c927c6d3cf curvilinear projection seems operational
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 578
diff changeset
1318 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result
578
fe4e9d2b807d finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
1319 self.curvilinearPositions.setPosition(i, S, Y, align)
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1320
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1321 def computeSmoothTrajectory(self, minCommonIntervalLength):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1322 '''Computes the trajectory as the mean of all features
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1323 if a feature exists, its position is
567
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1324
072cedc3f33d first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 562
diff changeset
1325 Warning work in progress
562
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1326 TODO? not use the first/last 1-.. positions'''
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1327 nFeatures = len(self.features)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1328 if nFeatures == 0:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1329 print('Empty object features\nCannot compute smooth trajectory')
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1330 else:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1331 # compute the relative position vectors
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1332 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1333 for i in xrange(nFeatures):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1334 for j in xrange(i):
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1335 fi = self.features[i]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1336 fj = self.features[j]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1337 inter = fi.commonTimeInterval(fj)
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1338 if inter.length() >= minCommonIntervalLength:
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1339 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
1340 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
1341 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
1342 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
1343 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
1344 relativePositions[(j,i)] = -relativePositions[(i,j)]
259ccb3dd962 work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 555
diff changeset
1345
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
1346 ###
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
1347 # 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
1348 ###
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1349 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
1350 '''Classifies slow and fast road users
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1351 slow: non-motorized -> pedestrians
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 583
diff changeset
1352 fast: motorized -> cars
608
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1353
078adacd72a4 moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 607
diff changeset
1354 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
1355 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
1356 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
1357 if aggregationFunc(speeds) >= threshold:
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1358 self.setUserType(userType2Num['car'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1359 else:
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1360 self.setUserType(userType2Num['pedestrian'])
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
1361
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1362 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
1363 '''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
1364 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
1365 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
1366 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
1367
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
1368 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
1369 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
1370 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
1371 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
1372 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
1373 return x'''
626
35155ac2a294 corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 624
diff changeset
1374 if not hasattr(self, 'aggregatedSpeed'):
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1375 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
581
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1376 userTypeProbabilities = {}
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1377 for userTypename in speedProbabilities:
10e8a9f2bd9f change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 579
diff changeset
1378 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
1379 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
1380 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
1381
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1382 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1383 '''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
1384
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1385 TODO? compute speed for longest feature?'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1386 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds))
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1387 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1388 self.appearanceClassifier = pedBikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1389 elif self.aggregatedSpeed < bikeCarSpeedThreshold:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1390 self.appearanceClassifier = bikeCarSVM
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1391 else:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1392 class CarClassifier:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1393 def predict(self, hog):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1394 return userType2Num['car']
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1395 self.appearanceClassifier = CarClassifier()
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1396
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1397 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
1398
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1399 def classifyUserTypeHoGSVMAtInstant(self, img, instant, homography, width, height, px = 0.2, py = 0.2, minNPixels = 800):
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1400 '''Extract the image box around the object and
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1401 applies the SVM model on it'''
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1402 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = cvutils.imageBox(img, self, instant, homography, width, height, px, py, minNPixels)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1403 if len(croppedImg) > 0:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1404 hog = cvutils.HOG(croppedImg)#HOG(image, rescaleSize = (64, 64), orientations=9, pixelsPerCell=(8, 8), cellsPerBlock=(2, 2), visualize=False, normalize=False)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1405 self.userTypes[instant] = int(self.appearanceClassifier.predict(hog))
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1406 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
1407 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
1408
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1409 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1410 '''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
1411 (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
1412
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1413 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
1414 With default parameters, the general (ped-bike-car) classifier will be used
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1415
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1416 Considered categories are the keys of speedProbabilities'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1417 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'):
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1418 print('Initilize the data structures for classification by HoG-SVM')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1419 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
1420
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1421 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
1422 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
1423 if t not in self.userTypes:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1424 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels)
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1425 # compute P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1426 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1427 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.}
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1428 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
1429 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities}
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1430 # result is P(Class|Appearance) x P(Speed|Class)
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1431 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1432 for t in self.userTypes:
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1433 nInstantsUserType[self.userTypes[t]] = nInstantsUserType.get(self.userTypes[t], 0) + 1
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1434 for userTypeNum in userTypeProbabilities:
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 675
diff changeset
1435 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
1436 # class is the user type that maximizes usertype probabilities
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1437 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
1438
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
1439 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
1440 '''Classifies the object based on its location (projected to image space)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1441 areas is a dictionary of matrix of the size of the image space
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1442 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
1443
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
1444 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
1445 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
1446 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
1447 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
1448 if homography is not None:
522
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1449 self.projectedPositions = obj.positions.project(homography)
ce40a89bd6ae added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 520
diff changeset
1450 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
1451 self.projectedPositions = obj.positions
523
ce4eaabacc26 modified internal implementation of user type for classifyUserTypeArea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 522
diff changeset
1452 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
1453 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
1454 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
1455 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
1456 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
1457 # 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
1458 return possibleUserTypes
520
fd9641cbd24b added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 517
diff changeset
1459
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1460 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1461 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1462 '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
1463 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
1464 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
1465 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
1466
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1467 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1468 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
1469 '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
1470 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
1471 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
1472
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1473
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1474 ##################
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1475 # Annotations
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1476 ##################
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1477
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1478 class BBAnnotation(MovingObject):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1479 '''Class for a series of ground truth annotations using bounding boxes
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1480 Its center is the center of the containing shape
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1481
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1482 By default in image space
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
1483 '''
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
1484
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1485 def __init__(self, num = None, timeInterval = None, topLeftPositions = None, bottomRightPositions = None, userType = userType2Num['unknown']):
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1486 super(BBAnnotation, self).__init__(num, timeInterval, userType = userType)
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1487 self.topLeftPositions = topLeftPositions.getPositions()
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
1488 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
1489
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1490 def computeCentroidTrajectory(self, homography = None):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1491 self.positions = self.topLeftPositions.add(self.bottomRightPositions).multiply(0.5)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 635
diff changeset
1492 if homography is not None:
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1493 self.positions = self.positions.project(homography)
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1494
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1495 def matches(self, obj, instant, matchingDistance):
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1496 '''Indicates if the annotation matches obj (MovingObject)
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1497 with threshold matchingDistance
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1498 Returns distance if below matchingDistance, matchingDistance+1 otherwise
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1499 (returns an actual value, otherwise munkres does not terminate)'''
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1500 d = Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant))
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1501 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1502 return d
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1503 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1504 return matchingDistance + 1
590
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1505
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1506 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, debug = False):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1507 '''Computes the CLEAR MOT metrics
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1508
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1509 Reference:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1510 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
1511
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1512 objects and annotations are supposed to in the same space
0fa73cbe9fdb annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 589
diff changeset
1513 current implementation is BBAnnotations (bounding boxes)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1514 mathingDistance is threshold on matching between annotation and object
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1515
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1516 TO: tracker output (objects)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1517 GT: ground truth (annotations)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1518
624
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1519 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
1520 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
1521 mme number of mismatches
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1522 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
1523 gt number of GT.frames
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1524
bac66bd536c5 added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 623
diff changeset
1525 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
1526 (add argument useDistanceForWeights = False)'''
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1527 from munkres import Munkres
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1528
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1529 munk = Munkres()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1530 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
1531 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
1532 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
1533 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
1534 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
1535 mme = 0 # number of mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1536 matches = {} # match[i] is the tracker track associated with GT i (using object references)
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1537 for t in xrange(firstInstant, lastInstant+1):
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1538 previousMatches = matches.copy()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1539 # 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
1540 toDelete = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1541 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1542 if a.existsAtInstant(t) and matches[a].existsAtInstant(t):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1543 d = a.matches(matches[a], t, matchingDistance)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1544 if d < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1545 dist += d
592
985a3021cff2 first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 590
diff changeset
1546 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1547 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1548 else:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1549 toDelete.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1550 for a in toDelete:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1551 del matches[a]
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1552
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1553 # match all unmatched GT-TO
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1554 matchedGTs = matches.keys()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1555 matchedTOs = matches.values()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1556 costs = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1557 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
1558 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
1559 nGTs = len(matchedGTs)+len(unmatchedGTs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1560 nTOs = len(matchedTOs)+len(unmatchedTOs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1561 if len(unmatchedTOs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1562 for a in unmatchedGTs:
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1563 costs.append([a.matches(o, t, matchingDistance) for o in unmatchedTOs])
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1564 if len(costs) > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1565 newMatches = munk.compute(costs)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1566 for k,v in newMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1567 if costs[k][v] < matchingDistance:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1568 matches[unmatchedGTs[k]]=unmatchedTOs[v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1569 dist += costs[k][v]
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1570 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1571 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.iteritems()]))
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1572
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1573 # compute metrics elements
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1574 ct += len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1575 mt += nGTs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1576 fpt += nTOs-len(matches)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1577 gt += nGTs
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1578 # compute mismatches
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1579 # 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
1580 mismatches = []
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1581 for a in matches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1582 if a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1583 if matches[a] != previousMatches[a]:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1584 mismatches.append(a)
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1585 elif matches[a] in previousMatches.values():
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1586 mismatches.append(matches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1587 for a in previousMatches:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1588 if a not in matches and previousMatches[a] in matches.values():
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1589 mismatches.append(previousMatches[a])
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1590 if debug:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1591 for mm in set(mismatches):
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1592 print type(mm), mm.getNum()
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1593 # 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
1594 mme += len(set(mismatches))
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1595
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1596 if ct > 0:
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1597 motp = dist/ct
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1598 else:
594
9e39cd95e017 first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 593
diff changeset
1599 motp = None
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1600 if gt > 0:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1601 mota = 1.-float(mt+fpt+mme)/gt
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1602 else:
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1603 mota = None
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 594
diff changeset
1604 return motp, mota, mt, mme, fpt, gt
593
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1605
e2a873e08568 non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 592
diff changeset
1606
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1607 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
1608 '''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
1609 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
1610 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1611 for obj in objects:
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
1612 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
1613 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1614
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
1615
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1616 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1617 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1618 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1619 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
1620 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1621 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1622 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
1623 #doctest.testfile("example.txt")
635
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1624 if shapelyAvailable:
6ae68383071e corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 633
diff changeset
1625 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
1626 unittest.TextTestRunner().run(suite)