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added option to compute PET in safety analysis script, and save in database
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 22 Mar 2017 10:44:24 -0400
parents 84420159c5f4
children 3a06007a4bb7
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43
6d11d9e7ad4e methods for trajectories and objects
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1 >>> from moving import *
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2 >>> import storage
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3 >>> import numpy as np
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4
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5 >>> Interval().empty()
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6 True
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7 >>> Interval(0,1).empty()
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8 False
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9 >>> Interval(0,1)
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10 [0, 1]
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11 >>> Interval(0,1).length()
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12 1.0
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13 >>> Interval(23.2,24.9).length()
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14 1.6999999999999993
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15 >>> Interval(10,8).length()
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16 0.0
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17
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18 >>> TimeInterval(0,1).length()
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19 2.0
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20 >>> TimeInterval(10,8).length()
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21 0.0
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22 >>> TimeInterval(10,8) == TimeInterval(10,8)
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23 True
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24 >>> TimeInterval(10,8) == TimeInterval(8,10)
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25 True
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26 >>> TimeInterval(11,8) == TimeInterval(10,8)
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27 False
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28
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29 >>> [i for i in TimeInterval(9,13)]
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30 [9, 10, 11, 12, 13]
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31
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32 >>> TimeInterval(2,5).equal(TimeInterval(2,5))
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33 True
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34 >>> TimeInterval(2,5).equal(TimeInterval(2,4))
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35 False
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36 >>> TimeInterval(2,5).equal(TimeInterval(5,2))
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37 False
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38
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39 >>> TimeInterval(3,6).distance(TimeInterval(4,6))
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40 0
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41 >>> TimeInterval(3,6).distance(TimeInterval(6,10))
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42 0
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43 >>> TimeInterval(3,6).distance(TimeInterval(8,10))
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44 2
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45 >>> TimeInterval(20,30).distance(TimeInterval(3,15))
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46 5
732
ad31520e81b5 modification for moving tests (unionIntrvals)
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47 >>> TimeInterval.unionIntervals([TimeInterval(3,6), TimeInterval(8,10),TimeInterval(11,15)])
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48 [3, 15]
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49
776
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50 >>> Point(0,3) == Point(0,3)
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51 True
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52 >>> Point(0,3) == Point(0,3.2)
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53 False
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54 >>> Point(3,4)-Point(1,7)
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55 (2.000000,-3.000000)
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
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56 >>> -Point(1,2)
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57 (-1.000000,-2.000000)
571
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58 >>> Point(1,2).multiply(0.5)
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59 (0.500000,1.000000)
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60
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61 >>> Point(3,2).norm2Squared()
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62 13
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63
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64 >>> Point.distanceNorm2(Point(3,4),Point(1,7))
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65 3.605551275463989
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66
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67 >>> Point(3,2).inPolygon(np.array([[0,0],[1,0],[1,1],[0,1]]))
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68 False
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69 >>> Point(3,2).inPolygon(np.array([[0,0],[4,0],[4,3],[0,3]]))
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70 True
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71
255
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72 >>> predictPositionNoLimit(10, Point(0,0), Point(1,1)) # doctest:+ELLIPSIS
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73 ((1.0...,1.0...), (10.0...,10.0...))
249
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74
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75 >>> segmentIntersection(Point(0,0), Point(0,1), Point(1,1), Point(2,3))
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76 >>> segmentIntersection(Point(0,1), Point(0,3), Point(1,0), Point(3,1))
571
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77 >>> segmentIntersection(Point(0.,0.), Point(2.,2.), Point(0.,2.), Point(2.,0.))
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78 (1.000000,1.000000)
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79 >>> segmentIntersection(Point(0,0), Point(4,4), Point(0,4), Point(4,0))
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80 (2.000000,2.000000)
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81 >>> segmentIntersection(Point(0,1), Point(1,2), Point(2,0), Point(3,2))
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82
776
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83 >>> t1 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6)])
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84 >>> t2 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6)])
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85 >>> t1 == t2
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86 True
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87 >>> t3 = Trajectory.fromPointList([(92.24, 102.9), (56.7, 69.6)])
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88 >>> t1 == t3
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89 False
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90 >>> t3 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6), (56.7, 69.6)])
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91 >>> t1 == t3
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92 False
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93
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94 >>> left = Trajectory.fromPointList([(92.291666666666686, 102.99239033124439), (56.774193548387103, 69.688898836168306)])
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95 >>> middle = Trajectory.fromPointList([(87.211021505376351, 93.390778871978512), (59.032258064516128, 67.540286481647257)])
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96 >>> right = Trajectory.fromPointList([(118.82392473118281, 115.68263205013426), (63.172043010752688, 66.600268576544309)])
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97 >>> alignments = [left, middle, right]
577
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98 >>> for a in alignments: a.computeCumulativeDistances()
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99 >>> getSYfromXY(Point(73, 82), alignments)
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100 [1, 0, (73.819977,81.106170), 18.172277808821125, 18.172277808821125, 1.2129694042343868]
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101 >>> getSYfromXY(Point(78, 83), alignments, 0.5)
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102 [1, 0, (77.033188,84.053889), 13.811799123113715, 13.811799123113715, -1.4301775140225983]
152
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103
113
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104 >>> Trajectory().length()
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105 0
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106 >>> t1 = Trajectory([[0.5,1.5,2.5],[0.5,3.5,6.5]])
91
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107 >>> t1.length() == 3.
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108 True
69
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109 >>> t1[1]
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110 (1.500000,3.500000)
284
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111
542
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112 >>> t1.differentiate()
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113 (1.000000,3.000000) (1.000000,3.000000)
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114 >>> t1.differentiate(True)
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115 (1.000000,3.000000) (1.000000,3.000000) (1.000000,3.000000)
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116 >>> t1 = Trajectory([[0.5,1.5,3.5],[0.5,2.5,7.5]])
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117 >>> t1.differentiate()
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118 (1.000000,2.000000) (2.000000,5.000000)
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119
576
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120 >>> t1.computeCumulativeDistances()
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121 >>> t1.getDistance(0)
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diff changeset
122 2.23606797749979
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
123 >>> t1.getDistance(1)
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
124 5.385164807134504
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
125 >>> t1.getDistance(2)
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
126 Index 2 beyond trajectory length 3-1
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
127 >>> t1.getCumulativeDistance(0)
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
128 0.0
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
129 >>> t1.getCumulativeDistance(1)
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
130 2.23606797749979
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
131 >>> t1.getCumulativeDistance(2)
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
132 7.6212327846342935
577
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
133 >>> t1.getCumulativeDistance(3)
d0abd2ee17b9 changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 576
diff changeset
134 Index 3 beyond trajectory length 3
576
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
135
0eff0471f9cb added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 573
diff changeset
136
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
137 >>> from utils import LCSS
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
138 >>> lcss = LCSS(lambda x,y: Point.distanceNorm2(x,y) <= 0.1)
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
139 >>> Trajectory.lcss(t1, t1, lcss)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
140 3
369
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
141 >>> lcss = LCSS(lambda p1, p2: (p1-p2).normMax() <= 0.1)
027e254f0b53 lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 345
diff changeset
142 >>> Trajectory.lcss(t1, t1, lcss)
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
143 3
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
144
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
145 >>> p1=Point(0,0)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
146 >>> p2=Point(1,0)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
147 >>> v1 = Point(0.1,0.1)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
148 >>> v2 = Point(-0.1, 0.1)
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
149 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.)-5.0) < 0.00001
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
150 True
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
151 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.1)-4.5) < 0.00001
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
152 True
531
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
153 >>> p1=Point(0,1)
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
154 >>> p2=Point(1,0)
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
155 >>> v1 = Point(0,0.1)
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
156 >>> v2 = Point(0.1, 0)
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
157 >>> Point.timeToCollision(p1, p2, v1, v2, 0.) == None
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
158 True
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
159 >>> Point.timeToCollision(p2, p1, v2, v1, 0.) == None
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
160 True
583
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
161 >>> Point.midPoint(p1, p2)
6ebfb43e938e added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 582
diff changeset
162 (0.500000,0.500000)
504
a40c75f04903 optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
163
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
164 >>> objects = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'object')
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
165 >>> len(objects)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
166 5
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
167 >>> objects[0].hasFeatures()
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
168 False
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
169 >>> features = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature')
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
170 >>> for o in objects: o.setFeatures(features)
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
171 >>> objects[0].hasFeatures()
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
172 True
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
173
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
174 >>> o1 = MovingObject.generate(Point(-5.,0.), Point(1.,0.), TimeInterval(0,10))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
175 >>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(0,10))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
176 >>> MovingObject.computePET(o1, o2, 0.1)
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
177 (0.0, 5, 5)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
178 >>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(5,15))
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
179 >>> MovingObject.computePET(o1, o2, 0.1)
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
180 (5.0, 5, 10)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
181 >>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(15,30))
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
182 >>> MovingObject.computePET(o1, o2, 0.1)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 776
diff changeset
183 (15.0, 5, 20)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 595
diff changeset
184
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
185 >>> t = CurvilinearTrajectory(S = [1., 2., 3., 5.], Y = [0.5, 0.5, 0.6, 0.7], lanes = ['1']*4)
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
186 >>> t.differentiate() # doctest:+ELLIPSIS
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
187 [1.0, 0.0, '1'] [1.0, 0.099..., '1'] [2.0, 0.099..., '1']
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
188 >>> t.differentiate(True) # doctest:+ELLIPSIS
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
189 [1.0, 0.0, '1'] [1.0, 0.099..., '1'] [2.0, 0.099..., '1'] [2.0, 0.099..., '1']
582
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
190 >>> t = CurvilinearTrajectory(S = [1.], Y = [0.5], lanes = ['1'])
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
191 >>> t.differentiate().empty()
7e1ae4d97f1a corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 577
diff changeset
192 True
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
193
682
fbe29be25501 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 674
diff changeset
194 >>> o1 = MovingObject.generate(Point(0., 2.), Point(0., 1.), TimeInterval(0,2))
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
195 >>> o1.classifyUserTypeSpeedMotorized(0.5, np.median)
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
196 >>> userTypeNames[o1.getUserType()]
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
197 'car'
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
198 >>> o1.classifyUserTypeSpeedMotorized(1.5, np.median)
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
199 >>> userTypeNames[o1.getUserType()]
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
diff changeset
200 'pedestrian'
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
201
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
202 >>> o1 = MovingObject.generate(Point(0.,0.), Point(1.,0.), TimeInterval(0,10))
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 732
diff changeset
203 >>> gt1 = BBMovingObject(1, TimeInterval(0,10), MovingObject.generate(Point(0.2,0.6), Point(1.,0.), TimeInterval(0,10)), MovingObject.generate(Point(-0.2,-0.4), Point(1.,0.), TimeInterval(0,10)))
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
204 >>> gt1.computeCentroidTrajectory()
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
205 >>> computeClearMOT([gt1], [], 0.2, 0, 10)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
206 (None, 0.0, 11, 0, 0, 11)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
207 >>> computeClearMOT([], [o1], 0.2, 0, 10)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
208 (None, None, 0, 0, 11, 0)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
209 >>> computeClearMOT([gt1], [o1], 0.2, 0, 10) # doctest:+ELLIPSIS
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
210 (0.0999..., 1.0, 0, 0, 0, 11)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
211 >>> computeClearMOT([gt1], [o1], 0.05, 0, 10)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
212 (None, -1.0, 11, 0, 11, 11)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
213
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
214 >>> o1 = MovingObject(1, TimeInterval(0,3), positions = Trajectory([range(4), [0.1, 0.1, 1.1, 1.1]]))
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
215 >>> o2 = MovingObject(2, TimeInterval(0,3), positions = Trajectory([range(4), [0.9, 0.9, -0.1, -0.1]]))
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 732
diff changeset
216 >>> gt1 = BBMovingObject(1, TimeInterval(0,3), MovingObject(positions = Trajectory([range(4), [0.]*4])), MovingObject(positions = Trajectory([range(4), [0.]*4])))
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
217 >>> gt1.computeCentroidTrajectory()
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 732
diff changeset
218 >>> gt2 = BBMovingObject(2, TimeInterval(0,3), MovingObject(positions = Trajectory([range(4), [1.]*4])), MovingObject(positions = Trajectory([range(4), [1.]*4])))
595
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
219 >>> gt2.computeCentroidTrajectory()
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
220 >>> computeClearMOT([gt1, gt2], [o1, o2], 0.2, 0, 3) # doctest:+ELLIPSIS
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
221 (0.1..., 0.75, 0, 2, 0, 8)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
222 >>> computeClearMOT([gt2, gt1], [o2, o1], 0.2, 0, 3) # doctest:+ELLIPSIS
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
223 (0.1..., 0.75, 0, 2, 0, 8)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
224 >>> computeClearMOT([gt1], [o1, o2], 0.2, 0, 3)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
225 (0.1, -0.25, 0, 1, 4, 4)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
226 >>> computeClearMOT([gt1], [o2, o1], 0.2, 0, 3) # symmetry
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
227 (0.1, -0.25, 0, 1, 4, 4)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
228 >>> computeClearMOT([gt1, gt2], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
229 (0.100..., 0.375, 4, 1, 0, 8)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
230 >>> computeClearMOT([gt2, gt1], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
231 (0.100..., 0.375, 4, 1, 0, 8)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
232 >>> computeClearMOT([gt1, gt2], [o1, o2], 0.08, 0, 3)
17b02c8054d0 added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 583
diff changeset
233 (None, -1.0, 8, 0, 8, 8)