Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 288:e0d41c7f53d4
updated class/method descriptions
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 29 Jan 2013 10:36:17 -0500 |
parents | f2cf16ad798f |
children | df58d361f19e |
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 import cvutils |
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6 |
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7 from math import sqrt |
16 | 8 |
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9 #from shapely.geometry import Polygon |
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10 |
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11 __metaclass__ = type |
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12 |
26 | 13 class Interval: |
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14 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 15 def __init__(self, first=0, last=-1, revert = False): |
16 if revert and last<first: | |
17 self.first=last | |
18 self.last=first | |
19 else: | |
20 self.first=first | |
21 self.last=last | |
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22 |
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23 def __str__(self): |
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24 return '[{0}, {1}]'.format(self.first, self.last) |
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25 |
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26 def __repr__(self): |
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27 return self.__str__() |
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28 |
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29 def empty(self): |
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30 return self.first > self.last |
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31 |
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32 def length(self): |
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33 '''Returns the length of the interval''' |
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34 return float(max(0,self.last-self.first)) |
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35 |
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36 def equal(self, i2): |
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37 return self.first==i2.first and self.last == i2.last |
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38 |
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39 def getList(self): |
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40 return [self.first, self.last] |
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41 |
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42 def contains(self, instant): |
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43 return (self.first<=instant and self.last>=instant) |
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44 |
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45 def inside(self, interval2): |
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46 '''Indicates if the temporal interval of self is comprised in interval2''' |
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47 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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48 |
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49 def union(self, interval2): |
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50 '''Smallest interval comprising self and interval2''' |
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51 return Interval(min(self.first, interval2.first), max(self.last, interval2.last)) |
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52 |
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53 def intersection(self, interval2): |
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54 '''Largest interval comprised in both self and interval2''' |
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55 return Interval(max(self.first, interval2.first), min(self.last, interval2.last)) |
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56 |
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57 def distance(self, interval2): |
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58 if not self.intersection(interval2).empty(): |
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59 return 0 |
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60 elif self.first > interval2.last: |
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61 return self.first - interval2.last |
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62 elif self.last < interval2.first: |
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63 return interval2.first - self.last |
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64 else: |
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65 return None |
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66 |
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67 |
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68 def unionIntervals(intervals): |
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69 'returns the smallest interval containing all intervals' |
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70 inter = intervals[0] |
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71 for i in intervals[1:]: |
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72 inter = inter.union(i) |
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73 return inter |
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74 |
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75 |
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76 class TimeInterval(Interval): |
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77 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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78 |
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79 For example: based on frame numbers (hence the modified length method) |
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80 It may be modified directly by setting first and last''' |
26 | 81 |
82 def __init__(self, first=0, last=-1): | |
83 Interval.__init__(self, first, last, False) | |
84 | |
27
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85 def __getitem__(self, i): |
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86 if not self.empty(): |
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87 return self.first+i |
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88 |
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89 def __iter__(self): |
107
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90 self.iterInstantNum = -1 |
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91 return self |
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92 |
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93 def next(self): |
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94 if self.iterInstantNum >= self.length()-1: |
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95 raise StopIteration |
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96 else: |
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97 self.iterInstantNum += 1 |
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98 return self[self.iterInstantNum] |
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99 |
26 | 100 def length(self): |
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101 '''Returns the length of the interval''' |
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102 return float(max(0,self.last-self.first+1)) |
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103 |
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104 # class BoundingPolygon: |
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105 # '''Class for a polygon bounding a set of points |
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106 # with methods to create intersection, unions... |
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107 # ''' |
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108 # We will use the polygon class of Shapely |
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109 |
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110 class STObject: |
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111 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 112 (time interval and bounding polygon for positions (e.g. rectangle)). |
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113 |
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114 It may not mean that the object is defined |
6 | 115 for all time instants within the time interval''' |
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116 |
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117 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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118 self.num = num |
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119 self.timeInterval = timeInterval |
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120 self.boundingPolygon = boundingPolygon |
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121 |
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122 def empty(self): |
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123 return self.timeInterval.empty() or not self.boudingPolygon |
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124 |
211 | 125 def getId(self): |
126 return self.num | |
127 | |
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128 def getFirstInstant(self): |
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129 return self.timeInterval.first |
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130 |
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131 def getLastInstant(self): |
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132 return self.timeInterval.last |
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133 |
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134 def getTimeInterval(self): |
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135 return self.timeInterval |
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136 |
108
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137 def existsAtInstant(self, t): |
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138 return self.timeInterval.contains(t) |
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139 |
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140 def commonTimeInterval(self, obj2): |
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141 return self.getTimeInterval().intersection(obj2.getTimeInterval()) |
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142 |
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143 class Point: |
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144 def __init__(self, x, y): |
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145 self.x = x |
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146 self.y = y |
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147 |
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148 def __str__(self): |
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149 return '(%f,%f)'%(self.x,self.y) |
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150 |
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151 def __repr__(self): |
98
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152 return self.__str__() |
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153 |
184
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154 def __add__(self, other): |
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155 return Point(self.x+other.x, self.y+other.y) |
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156 |
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157 def __sub__(self, other): |
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158 return Point(self.x-other.x, self.y-other.y) |
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159 |
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160 def multiply(self, alpha): |
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161 return Point(self.x*alpha, self.y*alpha) |
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162 |
211 | 163 def draw(self, options = 'o', **kwargs): |
41 | 164 from matplotlib.pylab import plot |
211 | 165 plot([self.x], [self.y], options, **kwargs) |
41 | 166 |
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167 def norm2Squared(self): |
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168 '''2-norm distance (Euclidean distance)''' |
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169 return self.x*self.x+self.y*self.y |
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170 |
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171 def norm2(self): |
288
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172 '''2-norm distance (Euclidean distance)''' |
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173 return sqrt(self.norm2Squared()) |
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174 |
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175 def norm1(self): |
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176 return abs(self.x)+abs(self.y) |
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177 |
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178 def normMax(self): |
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179 return max(abs(self.x),abs(self.y)) |
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180 |
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181 def aslist(self): |
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182 return [self.x, self.y] |
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183 |
203
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184 def astuple(self): |
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185 return (self.x, self.y) |
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186 |
223
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187 def asint(self): |
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188 return Point(int(self.x), int(self.y)) |
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189 |
98
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190 def project(self, homography): |
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191 from numpy.core.multiarray import array |
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192 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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193 return Point(projected[0], projected[1]) |
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194 |
79
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195 def inPolygon(self, poly): |
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196 '''Returns if the point x, y is inside the polygon. |
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197 The polygon is defined by the ordered list of points in poly |
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198 |
92
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199 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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200 |
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201 Use points_inside_poly from matplotlib.nxutils''' |
79
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202 |
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203 n = len(poly); |
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204 counter = 0; |
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205 |
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206 p1 = poly[0]; |
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207 for i in range(n+1): |
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208 p2 = poly[i % n]; |
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209 if self.y > min(p1.y,p2.y): |
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210 if self.y <= max(p1.y,p2.y): |
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211 if self.x <= max(p1.x,p2.x): |
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212 if p1.y != p2.y: |
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213 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x; |
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214 if p1.x == p2.x or self.x <= xinters: |
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215 counter+=1; |
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216 p1=p2 |
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217 return (counter%2 == 1); |
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218 |
49 | 219 @staticmethod |
67
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220 def dot(p1, p2): |
89
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221 'Scalar product' |
67
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222 return p1.x*p2.x+p1.y*p2.y |
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223 |
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224 @staticmethod |
90
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225 def cross(p1, p2): |
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226 'Cross product' |
89
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227 return p1.x*p2.y-p1.y*p2.x |
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228 |
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229 @staticmethod |
38
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230 def distanceNorm2(p1, p2): |
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231 return (p1-p2).norm2() |
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232 |
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233 @staticmethod |
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234 def plotAll(points, color='r'): |
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235 from matplotlib.pyplot import scatter |
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236 scatter([p.x for p in points],[p.y for p in points], c=color) |
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237 |
250
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238 class NormAngle: |
288
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239 '''Alternate encoding of a point, by its norm and orientation''' |
245
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240 |
250
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241 def __init__(self, norm, angle): |
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242 self.norm = norm |
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243 self.angle = angle |
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244 |
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245 @staticmethod |
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246 def fromPoint(p): |
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247 from math import atan2 |
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248 norm = p.norm2() |
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249 if norm > 0: |
259
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250 angle = atan2(p.y, p.x) |
250
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251 return NormAngle(norm, angle) |
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252 |
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253 def __add__(self, other): |
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254 'a norm cannot become negative' |
255
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255 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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256 |
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257 def getPoint(self): |
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258 from math import cos, sin |
255
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259 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
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260 |
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261 |
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262 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
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263 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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264 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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265 |
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266 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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267 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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268 speedOrientation is the other encoding of velocity, (speed, orientation) |
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269 speedOrientation and control are NormAngle''' |
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270 predictedSpeedTheta = speedOrientation+control |
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271 if maxSpeed: |
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272 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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273 predictedPosition = position+predictedSpeedTheta.getPoint() |
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274 return predictedPosition, predictedSpeedTheta |
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275 |
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276 |
184
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277 class FlowVector: |
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278 '''Class to represent 4-D flow vectors, |
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279 ie a position and a velocity''' |
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280 def __init__(self, position, velocity): |
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281 'position and velocity should be Point instances' |
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282 self.position = position |
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283 self.velocity = velocity |
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284 |
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285 def __add__(self, other): |
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286 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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287 |
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288 def multiply(self, alpha): |
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289 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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290 |
211 | 291 def draw(self, options = '', **kwargs): |
184
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292 from matplotlib.pylab import plot |
211 | 293 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
294 self.position.draw(options+'x', **kwargs) | |
184
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295 |
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296 @staticmethod |
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297 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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298 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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299 |
152
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300 def segmentIntersection(p1, p2, p3, p4): |
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301 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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302 from numpy import matrix |
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303 from numpy.linalg import linalg, det |
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304 |
258
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305 if (Interval(p1.x,p2.x, True).intersection(Interval(p3.x,p4.x, True)).empty() |
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306 or Interval(p1.y,p2.y, True).intersection(Interval(p3.y,p4.y, True)).empty()): |
152
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307 return None |
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308 else: |
258
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309 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]] |
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310 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]] |
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311 |
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312 A = matrix([[dp1.y, -dp1.x], |
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313 [dp2.y, -dp2.x]]) |
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314 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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315 [dp2.y*p3.x-dp2.x*p3.y]]) |
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316 |
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317 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0: |
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318 return None |
152
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319 else: |
258
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320 intersection = linalg.solve(A,B) |
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321 if (utils.inBetween(p1.x, p2.x, intersection[0,0]) |
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322 and utils.inBetween(p3.x, p4.x, intersection[0,0]) |
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323 and utils.inBetween(p1.y, p2.y, intersection[1,0]) |
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324 and utils.inBetween(p3.y, p4.y, intersection[1,0])): |
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325 return Point(intersection[0,0], intersection[1,0]) |
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326 else: |
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327 return None |
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328 |
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329 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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330 |
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331 class Trajectory: |
288
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332 '''Class for trajectories: temporal sequence of positions |
22 | 333 |
288
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334 The class is iterable''' |
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335 |
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336 def __init__(self, positions=None): |
203
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337 if positions != None: |
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338 self.positions = positions |
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339 else: |
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340 self.positions = [[],[]] |
43
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341 |
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342 @staticmethod |
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343 def load(line1, line2): |
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344 return Trajectory([[float(n) for n in line1.split(' ')], |
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345 [float(n) for n in line2.split(' ')]]) |
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346 |
256
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347 @staticmethod |
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348 def fromPointList(points): |
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349 t = Trajectory() |
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350 for p in points: |
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351 t.addPosition(p) |
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352 return t |
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353 |
16 | 354 def __str__(self): |
39 | 355 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 356 |
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357 def __repr__(self): |
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358 return str(self) |
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359 |
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360 def __getitem__(self, i): |
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361 return Point(self.positions[0][i], self.positions[1][i]) |
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362 |
22 | 363 def __iter__(self): |
364 self.iterInstantNum = 0 | |
365 return self | |
366 | |
367 def next(self): | |
368 if self.iterInstantNum >= self.length(): | |
369 raise StopIteration | |
370 else: | |
371 self.iterInstantNum += 1 | |
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372 return self[self.iterInstantNum-1] |
22 | 373 |
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374 def length(self): |
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375 return len(self.positions[0]) |
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376 |
284
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377 def __len__(self): |
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378 return self.length() |
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379 |
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380 def addPositionXY(self, x, y): |
113
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381 self.positions[0].append(x) |
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382 self.positions[1].append(y) |
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383 |
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384 def addPosition(self, p): |
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385 self.addPositionXY(p.x, p.y) |
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386 |
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387 @staticmethod |
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388 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
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389 from matplotlib.pylab import plot |
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390 if lastCoordinate == None: |
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391 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
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392 elif 0 <= lastCoordinate <= len(positions[0]): |
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393 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
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394 if withOrigin: |
211 | 395 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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396 |
203
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397 def project(self, homography): |
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398 from numpy.core.multiarray import array |
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399 projected = cvutils.projectArray(homography, array(self.positions)) |
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400 return Trajectory(projected) |
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401 |
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402 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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403 Trajectory._draw(self.positions, options, withOrigin, None, timeStep, **kwargs) |
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404 |
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405 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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406 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
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407 |
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408 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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409 from matplotlib.pylab import plot |
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410 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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411 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
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412 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs) |
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413 |
21
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414 def getXCoordinates(self): |
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415 return self.positions[0] |
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416 |
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417 def getYCoordinates(self): |
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418 return self.positions[1] |
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419 |
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420 def asArray(self): |
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421 from numpy.core.multiarray import array |
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422 return array(self.positions) |
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423 |
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424 def xBounds(self): |
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425 # look for function that does min and max in one pass |
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426 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
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427 |
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428 def yBounds(self): |
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429 # look for function that does min and max in one pass |
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430 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
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431 |
43
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432 def add(self, traj2): |
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433 '''Returns a new trajectory of the same length''' |
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434 if self.length() != traj2.length(): |
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435 print 'Trajectories of different lengths' |
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436 return None |
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437 else: |
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438 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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439 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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440 |
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441 def subtract(self, traj2): |
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442 '''Returns a new trajectory of the same length''' |
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443 if self.length() != traj2.length(): |
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444 print 'Trajectories of different lengths' |
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445 return None |
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446 else: |
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447 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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448 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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449 |
16 | 450 def norm(self): |
451 '''Returns the list of the norms at each instant''' | |
452 # def add(x, y): return x+y | |
453 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
454 # return sqrt(sq) | |
248
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455 from numpy import hypot |
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456 return hypot(self.positions[0], self.positions[1]) |
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457 |
49 | 458 def cumulatedDisplacement(self): |
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459 'Returns the sum of the distances between each successive point' |
49 | 460 displacement = 0 |
461 for i in xrange(self.length()-1): | |
462 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
463 return displacement | |
464 | |
465 def wiggliness(self): | |
466 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
467 | |
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468 def getIntersections(self, p1, p2): |
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469 '''Returns a list of the indices at which the trajectory |
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470 intersects with the segment of extremities p1 and p2 |
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471 the list is empty if there is no crossing''' |
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472 indices = [] |
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473 |
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474 for i in xrange(self.length()-1): |
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475 q1=self.__getitem__(i) |
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476 q2=self.__getitem__(i+1) |
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477 p = utils.segmentIntersection(q1, q2, p1, p2) |
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478 if p: |
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479 if q1.x != q2.x: |
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480 ratio = (p.x-q1.x)/(q2.x-q1.x) |
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481 elif q1.y != q2.y: |
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482 ratio = (p.y-q1.y)/(q2.y-q1.y) |
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483 else: |
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484 ratio = 0 |
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485 indices.append(i+ratio) |
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486 return indices |
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487 |
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488 def getTrajectoryInInterval(self, inter): |
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489 if inter.first >=0 and inter.last<= self.length(): |
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490 return Trajectory([self.positions[0][inter.first:inter.last], |
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491 self.positions[1][inter.first:inter.last]]) |
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492 else: |
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493 return None |
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494 |
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495 def getTrajectoryInPolygon(self, polygon): |
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496 '''Returns the set of points inside the polygon |
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497 (array of Nx2 coordinates of the polygon vertices)''' |
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498 import matplotlib.nxutils as nx |
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499 traj = Trajectory() |
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500 result = nx.points_inside_poly(self.asArray().T, polygon) |
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501 for i in xrange(self.length()): |
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502 if result[i]: |
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503 traj.addPositionXY(self.positions[0][i], self.positions[1][i]) |
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504 return traj |
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505 |
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506 # version 2: use shapely polygon contains |
19 | 507 |
284
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508 @staticmethod |
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509 def norm2LCSS(t1, t2, threshold): |
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diff
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510 return utils.LCSS(t1, t2, threshold, Point.distanceNorm2) |
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diff
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511 |
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diff
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|
512 @staticmethod |
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513 def normMaxLCSS(t1, t2, threshold): |
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514 return utils.LCSS(t1, t2, threshold, lambda p1, p2: (p1-p2).normMax()) |
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515 |
62
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diff
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516 ################## |
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diff
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|
517 # Moving Objects |
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518 ################## |
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|
519 |
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diff
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520 userTypeNames = ['car', |
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diff
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|
521 'pedestrian', |
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diff
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|
522 'twowheels', |
185
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diff
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523 'bus', |
62
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524 'truck'] |
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|
525 |
185
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diff
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526 userType2Num = utils.inverseEnumeration(userTypeNames) |
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diff
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|
527 |
7
ffddccfab7f9
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528 class MovingObject(STObject): |
288
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diff
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529 '''Class for moving objects: a spatio-temporal object |
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530 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) |
7
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531 ''' |
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|
532 |
54
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|
533 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None): |
7
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534 STObject.__init__(self, num, timeInterval) |
16 | 535 self.positions = positions |
7
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536 self.geometry = geometry |
54
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537 self.userType = userType |
7
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538 # compute bounding polygon from trajectory |
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|
539 |
43
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changeset
|
540 def getObjectInTimeInterval(self, inter): |
54
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diff
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|
541 '''Returns a new object extracted from self, |
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542 restricted to time interval inter''' |
97
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diff
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543 intersection = inter.intersection(self.getTimeInterval()) |
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diff
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|
544 if not intersection.empty(): |
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diff
changeset
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545 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
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diff
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546 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
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diff
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547 if self.velocities: |
97
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diff
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|
548 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
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diff
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|
549 return obj |
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diff
changeset
|
550 else: |
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diff
changeset
|
551 print 'The object does not exist at '+str(inter) |
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diff
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|
552 return None |
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diff
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|
553 |
21
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diff
changeset
|
554 def length(self): |
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diff
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|
555 return self.timeInterval.length() |
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diff
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|
556 |
38
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diff
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|
557 def getPositions(self): |
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diff
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|
558 return self.positions |
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diff
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|
559 |
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diff
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|
560 def getVelocities(self): |
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diff
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|
561 return self.velocities |
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diff
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|
562 |
268
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diff
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|
563 def setFeatures(self, features): |
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diff
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564 self.features = [features[i] for i in self.featureNumbers] |
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diff
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|
565 |
49 | 566 def getSpeeds(self): |
567 return self.getVelocities().norm() | |
568 | |
38
0d321c23d337
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parents:
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diff
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|
569 def getPositionAt(self, i): |
0d321c23d337
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diff
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|
570 return self.positions[i] |
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diff
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|
571 |
0d321c23d337
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diff
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|
572 def getVelocityAt(self, i): |
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diff
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|
573 return self.velocities[i] |
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diff
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|
574 |
67
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diff
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|
575 def getPositionAtInstant(self, i): |
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diff
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576 return self.positions[i-self.getFirstInstant()] |
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diff
changeset
|
577 |
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diff
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|
578 def getVelocityAtInstant(self, i): |
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|
579 return self.velocities[i-self.getFirstInstant()] |
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diff
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|
580 |
21
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19
diff
changeset
|
581 def getXCoordinates(self): |
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parents:
19
diff
changeset
|
582 return self.positions.getXCoordinates() |
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diff
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|
583 |
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parents:
19
diff
changeset
|
584 def getYCoordinates(self): |
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parents:
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diff
changeset
|
585 return self.positions.getYCoordinates() |
3c4629550f5f
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diff
changeset
|
586 |
270
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diff
changeset
|
587 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
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|
588 self.positions.draw(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
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152
diff
changeset
|
589 |
270
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diff
changeset
|
590 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
changeset
|
591 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 592 |
248
571ba5ed22e2
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parents:
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diff
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|
593 def play(self, videoFilename, homography = None): |
571ba5ed22e2
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diff
changeset
|
594 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
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245
diff
changeset
|
595 |
83
41da2cdcd91c
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parents:
79
diff
changeset
|
596 def getInstantsCrossingLane(self, p1, p2): |
55
88d5ee5ac164
updated comments and added shell for interaction between road users
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diff
changeset
|
597 '''Returns the instant(s) |
88d5ee5ac164
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54
diff
changeset
|
598 at which the object passes from one side of the segment to the other |
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parents:
54
diff
changeset
|
599 empty list if there is no crossing''' |
83
41da2cdcd91c
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79
diff
changeset
|
600 indices = self.positions.getIntersections(p1, p2) |
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diff
changeset
|
601 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
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parents:
26
diff
changeset
|
602 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
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parents:
243
diff
changeset
|
603 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
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started adapting and moving to other modules Mohamed's work
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diff
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|
604 '''Predicts the position of object at instant+deltaT, |
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diff
changeset
|
605 at constant speed''' |
255
13ec22bec5d4
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parents:
250
diff
changeset
|
606 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
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diff
changeset
|
607 |
67
ded58c424783
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diff
changeset
|
608 @staticmethod |
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diff
changeset
|
609 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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66
diff
changeset
|
610 'A positive result indicates that the road users are getting closer' |
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diff
changeset
|
611 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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diff
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|
612 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
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bug correction for cosine functions in python
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diff
changeset
|
613 return Point.dot(deltap, deltav) |
67
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diff
changeset
|
614 |
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diff
changeset
|
615 @staticmethod |
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changeset
|
616 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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66
diff
changeset
|
617 'A positive result indicates that the road users are getting closer' |
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diff
changeset
|
618 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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|
619 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
148
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diff
changeset
|
620 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2()) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
621 |
62
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diff
changeset
|
622 def plotRoadUsers(objects, colors): |
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diff
changeset
|
623 '''Colors is a PlottingPropertyValues instance''' |
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diff
changeset
|
624 from matplotlib.pyplot import figure, axis |
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moved road user types and added plotting for all road users
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diff
changeset
|
625 figure() |
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626 for obj in objects: |
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627 obj.draw(colors.get(obj.userType)) |
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628 axis('equal') |
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629 |
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630 |
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631 if __name__ == "__main__": |
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632 import doctest |
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633 import unittest |
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634 suite = doctest.DocFileSuite('tests/moving.txt') |
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635 #suite = doctest.DocTestSuite() |
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636 unittest.TextTestRunner().run(suite) |
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637 #doctest.testmod() |
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638 #doctest.testfile("example.txt") |