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annotate python/moving.py @ 67:ded58c424783
added indicator computation and modified severity indicator constructor
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sun, 07 Nov 2010 04:21:26 -0500 |
parents | 56fe4ef1377e |
children | 846fa9dc47de |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils; |
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5 |
16 | 6 from math import sqrt, hypot; |
7 | |
7
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8 from shapely.geometry import Polygon |
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9 |
0
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10 __metaclass__ = type |
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11 |
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12 #class MovingObject: |
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13 |
26 | 14 class Interval: |
15 '''Generic Interval''' | |
16 def __init__(self, first=0, last=-1, revert = False): | |
17 'Warning, do not revert if last<first, it contradicts the definition of empty' | |
18 if revert and last<first: | |
19 self.first=last | |
20 self.last=first | |
21 else: | |
22 self.first=first | |
23 self.last=last | |
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24 |
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25 def __str__(self): |
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26 return '%d %d'%(self.first, self.last) |
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27 |
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28 def empty(self): |
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29 return self.first > self.last |
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30 |
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31 def length(self): |
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32 '''Returns the length of the interval''' |
26 | 33 return max(0,self.last-self.first) |
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34 |
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35 def getList(self): |
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36 return [self.first, self.last] |
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37 |
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38 def contains(self, instant): |
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39 return (self.first<=instant and self.last>=instant) |
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40 |
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41 def inside(self, interval2): |
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42 'indicates if the temporal interval of self is comprised in interval2' |
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43 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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44 |
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45 def union(self, interval2): |
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46 '''Largest interval comprising self and interval2''' |
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47 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last)) |
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48 |
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49 def intersection(self, interval2): |
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50 '''Largest interval comprising self and interval2''' |
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51 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last)) |
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52 |
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53 |
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54 class TimeInterval(Interval): |
26 | 55 '''Temporal interval''' |
56 | |
57 def __init__(self, first=0, last=-1): | |
58 Interval.__init__(self, first, last, False) | |
59 | |
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60 def __getitem__(self, i): |
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61 if not self.empty(): |
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62 return self.first+i |
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63 |
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64 def __iter__(self): |
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65 self.iterInstantNum = 0 |
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66 return self |
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67 |
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68 def next(self): |
67
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69 if self.iterInstantNum >= self.length()-1: |
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70 raise StopIteration |
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71 else: |
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72 self.iterInstantNum += 1 |
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73 return self[self.iterInstantNum] |
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74 |
26 | 75 def length(self): |
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76 '''Returns the length of the interval''' |
26 | 77 return max(0,self.last-self.first+1) |
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78 |
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79 # class BoundingPolygon: |
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80 # '''Class for a polygon bounding a set of points |
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81 # with methods to create intersection, unions... |
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82 # ''' |
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83 # We will use the polygon class of Shapely |
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84 |
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85 class STObject: |
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86 '''Class for spatio-temporal object |
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87 i.e. with temporal and spatial existence |
6 | 88 (time interval and bounding polygon for positions (e.g. rectangle)). |
89 It does not mean that the object is defined | |
90 for all time instants within the time interval''' | |
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91 |
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92 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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93 self.num = num |
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94 self.timeInterval = timeInterval |
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95 self.boundingPolygon = boundingPolygon |
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96 |
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97 def empty(self): |
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98 return self.timeInterval.empty() or not self.boudingPolygon |
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99 |
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100 def getFirstInstant(self): |
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101 return self.timeInterval.first |
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102 |
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103 def getLastInstant(self): |
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104 return self.timeInterval.last |
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105 |
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106 def getTimeInterval(self): |
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107 return self.timeInterval |
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108 |
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109 def commonTimeInterval(self, obj2): |
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110 return self.getTimeInterval().intersection(obj2.getTimeInterval()) |
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111 |
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112 class Point: |
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113 def __init__(self, x, y): |
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114 self.x = x |
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115 self.y = y |
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116 |
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117 def __str__(self): |
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118 return '(%f,%f)'%(self.x,self.y) |
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119 |
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120 def __repr__(self): |
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121 return str(self) |
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122 |
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123 def __sub__(self, other): |
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124 return Point(self.x-other.x, self.y-other.y) |
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125 |
41 | 126 def draw(self, options = ''): |
127 from matplotlib.pylab import plot | |
128 plot([self.x], [self.y], 'x'+options) | |
129 | |
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130 def norm2Squared(self): |
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131 '''2-norm distance (Euclidean distance)''' |
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132 return self.x*self.x+self.y*self.y |
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133 |
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134 def norm2(self): |
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135 '2-norm distance (Euclidean distance)' |
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136 return sqrt(self.norm2Squared()) |
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137 |
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138 def aslist(self): |
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139 return [self.x, self.y] |
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140 |
49 | 141 @staticmethod |
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142 def dot(p1, p2): |
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143 return p1.x*p2.x+p1.y*p2.y |
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144 |
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145 @staticmethod |
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146 def distanceNorm2(p1, p2): |
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147 return (p1-p2).norm2() |
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148 |
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149 @staticmethod |
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150 def plotAll(points, color='r'): |
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151 from matplotlib.pyplot import scatter |
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152 scatter([p.x for p in points],[p.y for p in points], c=color) |
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153 |
28 | 154 |
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155 class Trajectory: |
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156 '''Class for trajectories |
22 | 157 i.e. a temporal sequence of positions |
158 | |
159 the class is iterable.''' | |
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160 |
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161 def __init__(self, positions): |
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162 self.positions = positions |
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163 |
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164 @staticmethod |
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165 def load(line1, line2): |
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166 return Trajectory([[float(n) for n in line1.split(' ')], |
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167 [float(n) for n in line2.split(' ')]]) |
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168 |
16 | 169 def __str__(self): |
39 | 170 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 171 |
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172 def __getitem__(self, i): |
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173 return Point(self.positions[0][i], self.positions[1][i]) |
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174 |
22 | 175 def __iter__(self): |
176 self.iterInstantNum = 0 | |
177 return self | |
178 | |
179 def next(self): | |
180 if self.iterInstantNum >= self.length(): | |
181 raise StopIteration | |
182 else: | |
183 self.iterInstantNum += 1 | |
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184 return self[self.iterInstantNum-1] |
22 | 185 |
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186 def addPosition(self, p): |
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187 if not self.positions: |
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188 self.positions = [[p.x],[p.y]] |
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189 else: |
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190 self.positions[0].append(p.x) |
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191 self.positions[1].append(p.y) |
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192 |
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193 def draw(self, options = ''): |
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194 from matplotlib.pylab import plot |
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195 plot(self.positions[0], self.positions[1], options) |
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196 |
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197 def length(self): |
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198 return len(self.positions[0]) |
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199 |
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200 def getXCoordinates(self): |
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201 return self.positions[0] |
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202 |
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203 def getYCoordinates(self): |
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204 return self.positions[1] |
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205 |
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206 def xBounds(self): |
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207 # look for function that does min and max in one pass |
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208 return [min(self.getXCoordinates()), max(self.getXCoordinates())] |
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209 |
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210 def yBounds(self): |
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211 # look for function that does min and max in one pass |
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212 return [min(self.getYCoordinates()), max(self.getYCoordinates())] |
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213 |
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214 def add(self, traj2): |
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215 '''Returns a new trajectory of the same length''' |
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216 if self.length() != traj2.length(): |
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217 print 'Trajectories of different lengths' |
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218 return None |
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219 else: |
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220 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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221 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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222 |
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223 def subtract(self, traj2): |
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224 '''Returns a new trajectory of the same length''' |
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225 if self.length() != traj2.length(): |
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226 print 'Trajectories of different lengths' |
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227 return None |
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228 else: |
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229 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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230 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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231 |
16 | 232 def norm(self): |
233 '''Returns the list of the norms at each instant''' | |
234 # def add(x, y): return x+y | |
235 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
236 # return sqrt(sq) | |
237 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])] | |
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238 |
49 | 239 def cumulatedDisplacement(self): |
240 displacement = 0 | |
241 for i in xrange(self.length()-1): | |
242 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
243 return displacement | |
244 | |
245 def wiggliness(self): | |
246 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
247 | |
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248 def getTrajectoryInInterval(self, inter): |
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249 if inter.first >=0 and inter.last<= self.length(): |
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250 return Trajectory([self.positions[0][inter.first:inter.last], |
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251 self.positions[1][inter.first:inter.last]]) |
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252 else: |
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253 return None |
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254 |
19 | 255 def getTrajectoryInPolygon(self, polygon): |
256 'Returns the set of points inside the polygon' | |
257 # use shapely polygon contains | |
258 pass | |
259 | |
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260 ################## |
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261 # Moving Objects |
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262 ################## |
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263 |
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264 userTypeNames = ['car', |
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265 'pedestrian', |
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266 'twowheels', |
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267 'bus' |
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268 'truck'] |
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269 |
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270 class MovingObject(STObject): |
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271 '''Class for moving objects |
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272 i.e. with a trajectory and a geometry (volume) (constant) |
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273 and a usertype (e.g. road user) |
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274 ''' |
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275 |
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276 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None): |
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277 STObject.__init__(self, num, timeInterval) |
16 | 278 self.positions = positions |
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279 self.geometry = geometry |
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280 self.userType = userType |
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281 # compute bounding polygon from trajectory |
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282 |
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283 def getObjectInTimeInterval(self, inter): |
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284 '''Returns a new object extracted from self, |
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285 restricted to time interval inter''' |
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286 if inter.inside(self.timeInterval): |
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287 inter = TimeInterval(inter.first-self.getFirstInstant(), inter.last-self.getFirstInstant()) |
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288 obj = MovingObject(self.num, inter, self.positions.getTrajectoryInInterval(inter), self.geometry, self.userType) |
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289 if self.velocities: |
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290 obj.velocities = self.velocities.getTrajectoryInInterval(inter) |
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291 return obj |
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292 else: |
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293 print 'The object does not exist at '+str(inter) |
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294 return None |
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295 |
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296 def length(self): |
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297 return self.timeInterval.length() |
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298 |
38
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299 def getPositions(self): |
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300 return self.positions |
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301 |
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302 def getVelocities(self): |
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303 return self.velocities |
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304 |
49 | 305 def getSpeeds(self): |
306 return self.getVelocities().norm() | |
307 | |
38
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308 def getPositionAt(self, i): |
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309 return self.positions[i] |
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310 |
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311 def getVelocityAt(self, i): |
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312 return self.velocities[i] |
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313 |
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314 def getPositionAtInstant(self, i): |
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315 return self.positions[i-self.getFirstInstant()] |
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316 |
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317 def getVelocityAtInstant(self, i): |
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318 return self.velocities[i-self.getFirstInstant()] |
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319 |
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320 def getXCoordinates(self): |
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321 return self.positions.getXCoordinates() |
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322 |
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323 def getYCoordinates(self): |
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324 return self.positions.getYCoordinates() |
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325 |
25
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326 def draw(self, options = ''): |
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327 self.positions.draw(options) |
22 | 328 |
329 def getInstantPassingLane(self, p1, p2): | |
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330 '''Returns the instant(s) |
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331 at which the object passes from one side of the segment to the other |
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332 empty list if there is no crossing''' |
25
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333 instants = [] |
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334 |
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335 for i in xrange(self.length()-1): |
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336 p = utils.segmentIntersection(self.positions[i], self.positions[i+1], p1, p2) |
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337 if p: |
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338 if self.positions[i].x != self.positions[i+1].x: |
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339 ratio = (p.x-self.positions[i].x)/(self.positions[i+1].x-self.positions[i].x) |
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340 elif self.positions[i].y != self.positions[i+1].y: |
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341 ratio = (p.y-self.positions[i].y)/(self.positions[i+1].y-self.positions[i].y) |
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342 else: |
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343 ratio = 0 |
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344 instants.append(self.timeInterval[i]*(1-ratio)+ratio*self.timeInterval[i+1]) |
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345 return instants |
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346 |
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347 @staticmethod |
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348 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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349 'A positive result indicates that the road users are getting closer' |
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350 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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351 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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352 return moving.Point.dot(deltap, deltav) |
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353 |
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354 @staticmethod |
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355 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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356 'A positive result indicates that the road users are getting closer' |
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357 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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358 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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359 return moving.Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2()) |
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360 |
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361 def plotRoadUsers(objects, colors): |
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362 '''Colors is a PlottingPropertyValues instance''' |
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363 from matplotlib.pyplot import figure, axis |
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364 figure() |
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365 for obj in objects: |
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366 obj.draw(colors.get(obj.userType)) |
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367 axis('equal') |
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368 |
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369 |
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370 # need for a class representing the indicators, their units, how to print them in graphs... |
6 | 371 class TemporalIndicator: |
372 '''Class for temporal indicators | |
30 | 373 i.e. indicators that take a value at specific instants |
374 | |
58
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375 values should be |
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376 * a dict, for the values at specific time instants |
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377 * or a list with a time interval object if continuous measurements |
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378 |
30 | 379 it should have more information like name, unit''' |
380 | |
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381 def __init__(self, name, values, timeInterval=None): |
30 | 382 self.name = name |
383 self.values = values | |
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384 self.timeInterval = timeInterval |
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385 |
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386 class SeverityIndicator(TemporalIndicator): |
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387 '''Class for severity indicators |
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388 field mostSevereIsMax is True |
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389 if the most severe value taken by the indicator is the maximum''' |
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390 |
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391 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None): |
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392 TemporalIndicator.__init__(self, name, values, timeInterval) |
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393 self.mostSevereIsMax = mostSevereIsMax |
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394 self.ignoredValue = ignoredValue |
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395 |
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396 def getMostSevereValue(self, minNInstants=1): |
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397 from matplotlib.mlab import find |
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398 from numpy.core.multiarray import array |
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399 from numpy.core.fromnumeric import mean |
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400 values = array(self.values.values()) |
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401 if self.ignoredValue: |
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402 indices = find(values != self.ignoredValue) |
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403 else: |
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404 indices = range(len(values)) |
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405 if len(indices) >= minNInstants: |
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406 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values |
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407 return mean(values[:minNInstants]) |
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408 else: |
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409 return None |
6 | 410 |
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411 def indicatorMap(indicatorValues, trajectory, squareSize): |
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412 '''Returns a dictionary |
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413 with keys for the indices of the cells (squares) |
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414 in which the trajectory positions are located |
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415 at which the indicator values are attached''' |
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416 from numpy import floor, mean |
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417 assert len(indicatorValues) == trajectory.length() |
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418 indicatorMap = {} |
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419 for k in xrange(trajectory.length()): |
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420 p = trajectory[k] |
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421 i = floor(p.x/squareSize) |
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422 j = floor(p.y/squareSize) |
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423 if indicatorMap.has_key((i,j)): |
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424 indicatorMap[(i,j)].append(indicatorValues[k]) |
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425 else: |
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426 indicatorMap[(i,j)] = [indicatorValues[k]] |
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427 for k in indicatorMap.keys(): |
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428 indicatorMap[k] = mean(indicatorMap[k]) |
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429 return indicatorMap |
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430 |
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431 def combineIndicatorMaps(maps, squareSize, combinationFunction): |
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432 '''Puts many indicator maps together |
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433 (averaging the values in each cell |
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434 if more than one maps has a value)''' |
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435 #from numpy import mean |
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436 indicatorMap = {} |
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437 for m in maps: |
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438 for k,v in m.iteritems(): |
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439 if indicatorMap.has_key(k): |
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440 indicatorMap[k].append(v) |
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441 else: |
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442 indicatorMap[k] = [v] |
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443 for k in indicatorMap.keys(): |
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444 indicatorMap[k] = combinationFunction(indicatorMap[k]) |
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445 return indicatorMap |
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446 |
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447 if __name__ == "__main__": |
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448 import doctest |
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449 import unittest |
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450 suite = doctest.DocFileSuite('tests/moving.txt') |
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451 #suite = doctest.DocTestSuite() |
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452 unittest.TextTestRunner().run(suite) |
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453 #doctest.testmod() |
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454 #doctest.testfile("example.txt") |
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455 |