Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 379:f1a1923ddff9
minor
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 19 Jul 2013 00:37:02 -0400 |
parents | 3805b9639647 |
children | 387cc0142211 |
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 |
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8 from numpy import median |
16 | 9 |
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10 try: |
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11 from shapely.geometry import Polygon, Point as shapelyPoint |
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12 from shapely.prepared import prep |
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13 shapelyAvailable = True |
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14 except ImportError: |
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15 print('Shapely library could not be loaded') |
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16 shapelyAvailable = False |
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17 |
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18 __metaclass__ = type |
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19 |
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20 class Interval(object): |
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21 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 22 def __init__(self, first=0, last=-1, revert = False): |
23 if revert and last<first: | |
24 self.first=last | |
25 self.last=first | |
26 else: | |
27 self.first=first | |
28 self.last=last | |
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29 |
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30 def __str__(self): |
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31 return '[{0}, {1}]'.format(self.first, self.last) |
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32 |
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33 def __repr__(self): |
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34 return self.__str__() |
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35 |
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36 def empty(self): |
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37 return self.first > self.last |
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38 |
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39 def center(self): |
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40 return (self.first+self.last)/2. |
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41 |
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42 def length(self): |
43
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43 '''Returns the length of the interval''' |
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44 return float(max(0,self.last-self.first)) |
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45 |
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46 def equal(self, i2): |
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47 return self.first==i2.first and self.last == i2.last |
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48 |
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49 def getList(self): |
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50 return [self.first, self.last] |
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51 |
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52 def contains(self, instant): |
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53 return (self.first<=instant and self.last>=instant) |
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54 |
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55 def inside(self, interval2): |
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56 '''Indicates if the temporal interval of self is comprised in interval2''' |
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57 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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58 |
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59 @classmethod |
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60 def union(cls, interval1, interval2): |
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61 '''Smallest interval comprising self and interval2''' |
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62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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63 |
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64 @classmethod |
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65 def intersection(cls, interval1, interval2): |
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66 '''Largest interval comprised in both self and interval2''' |
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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68 |
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69 def distance(self, interval2): |
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70 if not Interval.intersection(self, interval2).empty(): |
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71 return 0 |
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72 elif self.first > interval2.last: |
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73 return self.first - interval2.last |
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74 elif self.last < interval2.first: |
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75 return interval2.first - self.last |
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76 else: |
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77 return None |
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78 |
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79 |
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80 def unionIntervals(intervals): |
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81 'returns the smallest interval containing all intervals' |
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82 inter = intervals[0] |
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83 for i in intervals[1:]: |
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84 inter = Interval.union(inter, i) |
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85 return inter |
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86 |
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87 |
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88 class TimeInterval(Interval): |
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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90 |
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91 For example: based on frame numbers (hence the modified length method) |
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92 It may be modified directly by setting first and last''' |
26 | 93 |
94 def __init__(self, first=0, last=-1): | |
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95 super(TimeInterval, self).__init__(first, last, False) |
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96 |
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97 @staticmethod |
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98 def fromInterval(inter): |
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99 return TimeInterval(inter.first, inter.last) |
26 | 100 |
27
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101 def __getitem__(self, i): |
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102 if not self.empty(): |
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103 return self.first+i |
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104 |
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105 def __iter__(self): |
107
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106 self.iterInstantNum = -1 |
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107 return self |
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108 |
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109 def next(self): |
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110 if self.iterInstantNum >= self.length()-1: |
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111 raise StopIteration |
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112 else: |
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113 self.iterInstantNum += 1 |
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114 return self[self.iterInstantNum] |
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115 |
26 | 116 def length(self): |
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117 '''Returns the length of the interval''' |
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118 return float(max(0,self.last-self.first+1)) |
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119 |
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120 # class BoundingPolygon: |
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121 # '''Class for a polygon bounding a set of points |
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122 # with methods to create intersection, unions... |
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123 # ''' |
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124 # We will use the polygon class of Shapely |
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125 |
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126 class STObject(object): |
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127 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 128 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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129 |
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130 It may not mean that the object is defined |
6 | 131 for all time instants within the time interval''' |
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132 |
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133 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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134 self.num = num |
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135 self.timeInterval = timeInterval |
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136 self.boundingPolygon = boundingPolygon |
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137 |
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138 def empty(self): |
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139 return self.timeInterval.empty() or not self.boudingPolygon |
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140 |
329
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141 def getNum(self): |
211 | 142 return self.num |
143 | |
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144 def getFirstInstant(self): |
40
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145 return self.timeInterval.first |
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146 |
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147 def getLastInstant(self): |
40
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148 return self.timeInterval.last |
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149 |
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150 def getTimeInterval(self): |
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151 return self.timeInterval |
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152 |
108
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153 def existsAtInstant(self, t): |
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154 return self.timeInterval.contains(t) |
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155 |
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156 def commonTimeInterval(self, obj2): |
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157 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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158 |
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159 class Point(object): |
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160 def __init__(self, x, y): |
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161 self.x = x |
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162 self.y = y |
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163 |
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164 def __str__(self): |
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165 return '(%f,%f)'%(self.x,self.y) |
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166 |
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167 def __repr__(self): |
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168 return self.__str__() |
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169 |
184
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170 def __add__(self, other): |
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171 return Point(self.x+other.x, self.y+other.y) |
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172 |
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173 def __sub__(self, other): |
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174 return Point(self.x-other.x, self.y-other.y) |
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175 |
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176 def multiply(self, alpha): |
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177 return Point(self.x*alpha, self.y*alpha) |
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178 |
211 | 179 def draw(self, options = 'o', **kwargs): |
41 | 180 from matplotlib.pylab import plot |
211 | 181 plot([self.x], [self.y], options, **kwargs) |
41 | 182 |
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183 def norm2Squared(self): |
43
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184 '''2-norm distance (Euclidean distance)''' |
38
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185 return self.x*self.x+self.y*self.y |
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186 |
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187 def norm2(self): |
288
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188 '''2-norm distance (Euclidean distance)''' |
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189 return sqrt(self.norm2Squared()) |
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190 |
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191 def norm1(self): |
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192 return abs(self.x)+abs(self.y) |
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193 |
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194 def normMax(self): |
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195 return max(abs(self.x),abs(self.y)) |
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196 |
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197 def aslist(self): |
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198 return [self.x, self.y] |
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199 |
203
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200 def astuple(self): |
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201 return (self.x, self.y) |
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202 |
223
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203 def asint(self): |
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204 return Point(int(self.x), int(self.y)) |
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205 |
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206 if shapelyAvailable: |
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207 def asShapely(self): |
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208 return shapelyPoint(self.x, self.y) |
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209 |
98
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210 def project(self, homography): |
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211 from numpy.core.multiarray import array |
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212 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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213 return Point(projected[0], projected[1]) |
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214 |
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215 def inPolygonNoShapely(self, polygon): |
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216 '''Indicates if the point x, y is inside the polygon |
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217 (array of Nx2 coordinates of the polygon vertices) |
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218 |
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219 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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220 |
372
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221 Use Polygon.contains if Shapely is installed''' |
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222 |
372
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223 n = polygon.shape[0]; |
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224 counter = 0; |
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225 |
372
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226 p1 = polygon[0,:]; |
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227 for i in range(n+1): |
372
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228 p2 = polygon[i % n,:]; |
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229 if self.y > min(p1[1],p2[1]): |
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230 if self.y <= max(p1[1],p2[1]): |
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231 if self.x <= max(p1[0],p2[0]): |
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232 if p1[1] != p2[1]: |
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233 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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234 if p1[0] == p2[0] or self.x <= xinters: |
79
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235 counter+=1; |
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236 p1=p2 |
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237 return (counter%2 == 1); |
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238 |
49 | 239 @staticmethod |
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240 def dot(p1, p2): |
89
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241 'Scalar product' |
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242 return p1.x*p2.x+p1.y*p2.y |
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243 |
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244 @staticmethod |
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245 def cross(p1, p2): |
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246 'Cross product' |
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247 return p1.x*p2.y-p1.y*p2.x |
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248 |
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249 @staticmethod |
378
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250 def cosine(p1, p2): |
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251 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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252 |
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253 @staticmethod |
38
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254 def distanceNorm2(p1, p2): |
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255 return (p1-p2).norm2() |
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256 |
64
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257 @staticmethod |
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258 def plotAll(points, **kwargs): |
64
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259 from matplotlib.pyplot import scatter |
357
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260 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
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261 |
378
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262 def similarOrientation(self, refDirection, cosineThreshold): |
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263 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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264 return Point.cosine(self, refDirection) >= cosineThreshold |
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265 |
372
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266 if shapelyAvailable: |
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267 def pointsInPolygon(points, polygon): |
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268 '''Optimized tests of a series of points within (Shapely) polygon ''' |
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269 prepared_polygon = prep(polygon) |
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270 return filter(prepared_polygon.contains, points) |
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271 |
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272 |
290
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273 class NormAngle(object): |
288
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274 '''Alternate encoding of a point, by its norm and orientation''' |
245
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275 |
250
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276 def __init__(self, norm, angle): |
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277 self.norm = norm |
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278 self.angle = angle |
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279 |
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280 @staticmethod |
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281 def fromPoint(p): |
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282 from math import atan2 |
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283 norm = p.norm2() |
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284 if norm > 0: |
259
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285 angle = atan2(p.y, p.x) |
339 | 286 else: |
287 angle = 0. | |
250
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288 return NormAngle(norm, angle) |
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289 |
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290 def __add__(self, other): |
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291 'a norm cannot become negative' |
255
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292 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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293 |
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294 def getPoint(self): |
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295 from math import cos, sin |
255
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296 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
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297 |
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298 |
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299 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
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300 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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301 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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302 |
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303 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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304 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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305 speedOrientation is the other encoding of velocity, (speed, orientation) |
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306 speedOrientation and control are NormAngle''' |
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307 predictedSpeedTheta = speedOrientation+control |
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308 if maxSpeed: |
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309 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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310 predictedPosition = position+predictedSpeedTheta.getPoint() |
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311 return predictedPosition, predictedSpeedTheta |
245
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312 |
244
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313 |
290
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314 class FlowVector(object): |
184
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315 '''Class to represent 4-D flow vectors, |
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316 ie a position and a velocity''' |
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317 def __init__(self, position, velocity): |
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318 'position and velocity should be Point instances' |
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319 self.position = position |
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320 self.velocity = velocity |
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321 |
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322 def __add__(self, other): |
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323 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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324 |
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325 def multiply(self, alpha): |
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326 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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327 |
211 | 328 def draw(self, options = '', **kwargs): |
184
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329 from matplotlib.pylab import plot |
211 | 330 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
331 self.position.draw(options+'x', **kwargs) | |
184
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332 |
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333 @staticmethod |
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334 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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335 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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336 |
359
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337 def intersection(p1, p2, dp1, dp2): |
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338 '''Returns the intersection point between the two lines |
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339 defined by the respective vectors (dp) and origin points (p)''' |
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340 from numpy import matrix |
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341 from numpy.linalg import linalg |
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342 A = matrix([[dp1.y, -dp1.x], |
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343 [dp2.y, -dp2.x]]) |
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344 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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345 [dp2.y*p2.x-dp2.x*p2.y]]) |
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346 |
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347 if linalg.det(A) == 0: |
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348 return None |
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349 else: |
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350 intersection = linalg.solve(A,B) |
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351 return Point(intersection[0,0], intersection[1,0]) |
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352 |
152
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353 def segmentIntersection(p1, p2, p3, p4): |
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354 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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355 |
290
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356 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
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357 return None |
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358 else: |
359
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359 dp1 = p2-p1 |
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360 dp3 = p4-p3 |
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361 inter = intersection(p1, p3, dp1, dp3) |
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362 if (inter != None |
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363 and utils.inBetween(p1.x, p2.x, inter.x) |
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364 and utils.inBetween(p3.x, p4.x, inter.x) |
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365 and utils.inBetween(p1.y, p2.y, inter.y) |
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366 and utils.inBetween(p3.y, p4.y, inter.y)): |
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367 return inter |
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368 else: |
258
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369 return None |
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370 |
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371 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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372 |
290
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373 class Trajectory(object): |
288
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374 '''Class for trajectories: temporal sequence of positions |
22 | 375 |
288
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376 The class is iterable''' |
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377 |
79
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378 def __init__(self, positions=None): |
331
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379 if positions != None: |
113
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380 self.positions = positions |
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381 else: |
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382 self.positions = [[],[]] |
43
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383 |
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384 @staticmethod |
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385 def load(line1, line2): |
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386 return Trajectory([[float(n) for n in line1.split(' ')], |
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387 [float(n) for n in line2.split(' ')]]) |
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388 |
256
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389 @staticmethod |
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390 def fromPointList(points): |
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391 t = Trajectory() |
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392 for p in points: |
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393 t.addPosition(p) |
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394 return t |
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395 |
327
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396 def __len__(self): |
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397 return len(self.positions[0]) |
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398 |
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399 def length(self): |
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400 return self.__len__() |
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401 |
16 | 402 def __str__(self): |
39 | 403 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 404 |
69
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405 def __repr__(self): |
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406 return str(self) |
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407 |
23
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408 def __getitem__(self, i): |
25
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409 return Point(self.positions[0][i], self.positions[1][i]) |
23
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410 |
22 | 411 def __iter__(self): |
412 self.iterInstantNum = 0 | |
413 return self | |
414 | |
415 def next(self): | |
416 if self.iterInstantNum >= self.length(): | |
417 raise StopIteration | |
418 else: | |
419 self.iterInstantNum += 1 | |
23
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420 return self[self.iterInstantNum-1] |
22 | 421 |
327
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422 def setPositionXY(self, i, x, y): |
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423 if i < self.__len__(): |
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424 self.positions[0][i] = x |
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425 self.positions[1][i] = y |
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426 |
327
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427 def setPosition(self, i, p): |
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428 self.setPositionXY(i, p.x, p.y) |
284
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diff
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|
429 |
71
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diff
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430 def addPositionXY(self, x, y): |
113
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|
431 self.positions[0].append(x) |
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|
432 self.positions[1].append(y) |
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changeset
|
433 |
71
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|
434 def addPosition(self, p): |
79
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|
435 self.addPositionXY(p.x, p.y) |
182
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|
436 |
343
74e437ab5f11
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diff
changeset
|
437 def duplicateLastPosition(self): |
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changeset
|
438 self.positions[0].append(self.positions[0][-1]) |
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|
439 self.positions[1].append(self.positions[1][-1]) |
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440 |
182
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|
441 @staticmethod |
270
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diff
changeset
|
442 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
7
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|
443 from matplotlib.pylab import plot |
203
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444 if lastCoordinate == None: |
270
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445 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
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446 elif 0 <= lastCoordinate <= len(positions[0]): |
270
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447 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
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448 if withOrigin: |
211 | 449 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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450 |
203
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451 def project(self, homography): |
318 | 452 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
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changeset
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453 |
270
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454 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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455 Trajectory._draw(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
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456 |
270
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457 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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458 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
203
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459 |
270
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460 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
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461 from matplotlib.pylab import plot |
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462 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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463 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
270
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464 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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0
diff
changeset
|
465 |
21
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changeset
|
466 def getXCoordinates(self): |
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changeset
|
467 return self.positions[0] |
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changeset
|
468 |
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changeset
|
469 def getYCoordinates(self): |
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changeset
|
470 return self.positions[1] |
92
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diff
changeset
|
471 |
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diff
changeset
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472 def asArray(self): |
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473 from numpy.core.multiarray import array |
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changeset
|
474 return array(self.positions) |
21
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diff
changeset
|
475 |
14
e7bbe8465591
homography and other utils
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diff
changeset
|
476 def xBounds(self): |
e7bbe8465591
homography and other utils
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|
477 # look for function that does min and max in one pass |
258
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|
478 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
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homography and other utils
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changeset
|
479 |
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homography and other utils
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changeset
|
480 def yBounds(self): |
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481 # look for function that does min and max in one pass |
258
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diff
changeset
|
482 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
21
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diff
changeset
|
483 |
43
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diff
changeset
|
484 def add(self, traj2): |
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diff
changeset
|
485 '''Returns a new trajectory of the same length''' |
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diff
changeset
|
486 if self.length() != traj2.length(): |
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diff
changeset
|
487 print 'Trajectories of different lengths' |
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diff
changeset
|
488 return None |
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diff
changeset
|
489 else: |
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diff
changeset
|
490 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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491 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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492 |
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493 def subtract(self, traj2): |
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494 '''Returns a new trajectory of the same length''' |
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495 if self.length() != traj2.length(): |
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496 print 'Trajectories of different lengths' |
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497 return None |
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498 else: |
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499 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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500 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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501 |
339 | 502 def differentiate(self): |
503 diff = Trajectory() | |
504 for i in xrange(1, self.length()): | |
505 diff.addPosition(self[i]-self[i-1]) | |
506 return diff | |
507 | |
16 | 508 def norm(self): |
509 '''Returns the list of the norms at each instant''' | |
510 # def add(x, y): return x+y | |
511 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
512 # return sqrt(sq) | |
248
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513 from numpy import hypot |
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514 return hypot(self.positions[0], self.positions[1]) |
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515 |
49 | 516 def cumulatedDisplacement(self): |
91
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517 'Returns the sum of the distances between each successive point' |
49 | 518 displacement = 0 |
519 for i in xrange(self.length()-1): | |
520 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
521 return displacement | |
522 | |
378
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523 def similarOrientation(self, refDirection, cosineThreshold): |
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524 '''Indicates whether the majority of the trajectory elements (vectors for velocity) |
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525 have a cosine with refDirection is smaller than cosineThreshold''' |
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526 count = 0 |
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527 halfLength = float(self.length())/2 |
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528 for p in self: |
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529 if p.similarOrientation(refDirection, cosineThreshold): |
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530 count += 1 |
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531 if count > halfLength: |
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532 return True |
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533 return False |
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534 |
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535 |
49 | 536 def wiggliness(self): |
537 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
538 | |
83
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539 def getIntersections(self, p1, p2): |
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540 '''Returns a list of the indices at which the trajectory |
91
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541 intersects with the segment of extremities p1 and p2 |
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542 the list is empty if there is no crossing''' |
83
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543 indices = [] |
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544 |
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545 for i in xrange(self.length()-1): |
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546 q1=self.__getitem__(i) |
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547 q2=self.__getitem__(i+1) |
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548 p = utils.segmentIntersection(q1, q2, p1, p2) |
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549 if p: |
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|
550 if q1.x != q2.x: |
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551 ratio = (p.x-q1.x)/(q2.x-q1.x) |
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552 elif q1.y != q2.y: |
41da2cdcd91c
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553 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
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diff
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|
554 else: |
41da2cdcd91c
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diff
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|
555 ratio = 0 |
41da2cdcd91c
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diff
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|
556 indices.append(i+ratio) |
41da2cdcd91c
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diff
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557 return indices |
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diff
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|
558 |
43
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diff
changeset
|
559 def getTrajectoryInInterval(self, inter): |
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diff
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560 if inter.first >=0 and inter.last<= self.length(): |
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diff
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|
561 return Trajectory([self.positions[0][inter.first:inter.last], |
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diff
changeset
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562 self.positions[1][inter.first:inter.last]]) |
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methods for trajectories and objects
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diff
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563 else: |
6d11d9e7ad4e
methods for trajectories and objects
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|
564 return None |
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41
diff
changeset
|
565 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
566 def getTrajectoryInPolygonNoShapely(self, polygon): |
349eb1e09f45
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diff
changeset
|
567 '''Returns the trajectory built with the set of points inside the polygon |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
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91
diff
changeset
|
568 (array of Nx2 coordinates of the polygon vertices)''' |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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diff
changeset
|
569 traj = Trajectory() |
372
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Cleaned the methods/functions indicating if a point is in a polygon
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|
570 for p in self: |
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Cleaned the methods/functions indicating if a point is in a polygon
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|
571 if p.inPolygonNoShapely(polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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|
572 traj.addPosition(p) |
113
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corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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diff
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573 return traj |
79
5d487f183fe2
added method to test points in polygons and tests
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74
diff
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|
574 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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diff
changeset
|
575 if shapelyAvailable: |
349eb1e09f45
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diff
changeset
|
576 def getTrajectoryInPolygon(self, polygon): |
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577 '''Returns the trajectory built with the set of points inside the (shapely) polygon''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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diff
changeset
|
578 traj = Trajectory() |
349eb1e09f45
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diff
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|
579 points = [p.asShapely() for p in self] |
349eb1e09f45
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580 for p in pointsInPolygon(points, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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diff
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|
581 traj.addPositionXY(p.x, p.y) |
349eb1e09f45
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582 return traj |
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369
diff
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|
583 |
284
f2cf16ad798f
added LCSS for trajectories
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parents:
280
diff
changeset
|
584 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
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368
diff
changeset
|
585 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
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diff
changeset
|
586 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
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diff
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|
587 |
327
42f2b46ec210
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318
diff
changeset
|
588 class CurvilinearTrajectory(Trajectory): |
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diff
changeset
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589 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
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diff
changeset
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590 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
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diff
changeset
|
591 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
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318
diff
changeset
|
592 |
42f2b46ec210
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diff
changeset
|
593 def __init__(self, S = [], Y = [], lanes = []): |
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diff
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594 self.positions = [S,Y] |
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diff
changeset
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595 self.lanes = lanes |
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diff
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|
596 |
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|
597 def __getitem__(self,i): |
42f2b46ec210
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diff
changeset
|
598 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
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diff
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599 |
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318
diff
changeset
|
600 def getSCoordinates(self): |
42f2b46ec210
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diff
changeset
|
601 return self.getXCoordinates() |
42f2b46ec210
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318
diff
changeset
|
602 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
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diff
changeset
|
603 def getLanes(self): |
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diff
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|
604 return self.lanes |
42f2b46ec210
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318
diff
changeset
|
605 |
42f2b46ec210
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diff
changeset
|
606 def addPosition(self, s, y, lane): |
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diff
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607 self.addPositionXY(s,y) |
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diff
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608 self.lanes.append(lane) |
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changeset
|
609 |
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diff
changeset
|
610 def setPosition(self, i, s, y, lane): |
42f2b46ec210
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611 self.setPositionXY(i, s, y) |
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diff
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612 if i < self.__len__(): |
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613 self.lanes[i] = lane |
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614 |
62
290fceb125d2
moved road user types and added plotting for all road users
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diff
changeset
|
615 ################## |
290fceb125d2
moved road user types and added plotting for all road users
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diff
changeset
|
616 # Moving Objects |
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diff
changeset
|
617 ################## |
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diff
changeset
|
618 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
619 userTypeNames = ['unknown', |
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diff
changeset
|
620 'car', |
62
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diff
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|
621 'pedestrian', |
329
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622 'motorcycle', |
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623 'bicycle', |
185
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diff
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|
624 'bus', |
62
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|
625 'truck'] |
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diff
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626 |
185
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627 userType2Num = utils.inverseEnumeration(userTypeNames) |
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diff
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628 |
7
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|
629 class MovingObject(STObject): |
288
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630 '''Class for moving objects: a spatio-temporal object |
329
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631 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see |
7
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632 ''' |
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633 |
345
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634 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = None): |
290
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635 super(MovingObject, self).__init__(num, timeInterval) |
16 | 636 self.positions = positions |
345
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637 self.velocities = velocities |
7
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638 self.geometry = geometry |
54
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diff
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639 self.userType = userType |
317
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|
640 self.features = None |
7
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641 # compute bounding polygon from trajectory |
290
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642 |
43
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diff
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|
643 def getObjectInTimeInterval(self, inter): |
54
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diff
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644 '''Returns a new object extracted from self, |
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diff
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645 restricted to time interval inter''' |
290
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646 intersection = TimeInterval.intersection(inter, self.getTimeInterval()) |
97
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diff
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|
647 if not intersection.empty(): |
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diff
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|
648 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
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649 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
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diff
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650 if self.velocities: |
97
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diff
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|
651 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
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652 return obj |
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653 else: |
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654 print 'The object does not exist at '+str(inter) |
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655 return None |
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|
656 |
21
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657 def length(self): |
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658 return self.timeInterval.length() |
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|
659 |
38
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660 def getPositions(self): |
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661 return self.positions |
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662 |
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663 def getVelocities(self): |
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664 return self.velocities |
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665 |
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666 def getUserType(self): |
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667 return self.userType |
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668 |
335
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669 def getCurvilinearPositions(self): |
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670 if hasattr(self, 'curvilinearPositions'): |
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671 return self.curvilinearPositions |
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672 else: |
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673 return None |
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674 |
329
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675 def setUserType(self, userType): |
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676 self.userType = userType |
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diff
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677 |
268
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diff
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678 def setFeatures(self, features): |
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diff
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679 self.features = [features[i] for i in self.featureNumbers] |
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680 |
49 | 681 def getSpeeds(self): |
682 return self.getVelocities().norm() | |
683 | |
38
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684 def getPositionAt(self, i): |
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diff
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|
685 return self.positions[i] |
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diff
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|
686 |
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diff
changeset
|
687 def getVelocityAt(self, i): |
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diff
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688 return self.velocities[i] |
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diff
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|
689 |
67
ded58c424783
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diff
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|
690 def getPositionAtInstant(self, i): |
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diff
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|
691 return self.positions[i-self.getFirstInstant()] |
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diff
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|
692 |
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diff
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|
693 def getVelocityAtInstant(self, i): |
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694 return self.velocities[i-self.getFirstInstant()] |
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|
695 |
21
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diff
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|
696 def getXCoordinates(self): |
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diff
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|
697 return self.positions.getXCoordinates() |
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diff
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|
698 |
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diff
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|
699 def getYCoordinates(self): |
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diff
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|
700 return self.positions.getYCoordinates() |
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diff
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|
701 |
270
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diff
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|
702 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
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|
703 self.positions.draw(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
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diff
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|
704 |
270
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diff
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|
705 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
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|
706 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 707 |
248
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diff
changeset
|
708 def play(self, videoFilename, homography = None): |
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diff
changeset
|
709 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
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diff
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|
710 |
378
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diff
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|
711 def speedDiagnostics(self, framerate = 1., display = False): |
377 | 712 from numpy import std |
378
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diff
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|
713 from scipy.stats import scoreatpercentile |
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diff
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|
714 speeds = framerate*self.getSpeeds() |
377 | 715 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 716 print('min/5th perc speed: {} / {}\nspeed diff: {}\nspeed stdev: {}\nregression: {}'.format(min(speeds), scoreatpercentile(speeds, 5), speeds[-2]-speeds[1], std(speeds), coef[0])) |
377 | 717 if display: |
379 | 718 from matplotlib.pyplot import figure, plot, axis |
377 | 719 figure(1) |
720 self.draw() | |
379 | 721 axis('equal') |
377 | 722 figure(2) |
723 plot(list(self.getTimeInterval()), speeds) | |
724 | |
378
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diff
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|
725 @staticmethod |
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diff
changeset
|
726 def distances(obj1, obj2, instant): |
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diff
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|
727 from scipy.spatial.distance import cdist |
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diff
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|
728 positions1 = [f.getPositionAtInstant(instant).astuple() for f in obj1.features if f.existsAtInstant(instant)] |
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diff
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|
729 positions2 = [f.getPositionAtInstant(instant).astuple() for f in obj2.features if f.existsAtInstant(instant)] |
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diff
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|
730 return cdist(positions1, positions2, metric = 'euclidean') |
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diff
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|
731 |
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changeset
|
732 @staticmethod |
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|
733 def minDistance(obj1, obj2, instant): |
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diff
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|
734 return MovingObject.distances(obj1, obj2, instant).min() |
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diff
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|
735 |
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diff
changeset
|
736 @staticmethod |
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diff
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|
737 def maxDistance(obj1, obj2, instant): |
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|
738 return MovingObject.distances(obj1, obj2, instant).max() |
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diff
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|
739 |
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changeset
|
740 def maxSize(self): |
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diff
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|
741 '''Returns the max distance between features |
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diff
changeset
|
742 at instant there are the most features''' |
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diff
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|
743 if hasattr(self, 'features'): |
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diff
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|
744 nFeatures = -1 |
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diff
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|
745 tMaxFeatures = 0 |
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diff
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|
746 for t in self.getTimeInterval(): |
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diff
changeset
|
747 n = len([f for f in self.features if f.existsAtInstant(t)]) |
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748 if n > nFeatures: |
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749 nFeatures = n |
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750 tMaxFeatures = t |
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751 return MovingObject.maxDistance(self, self, tMaxFeatures) |
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752 else: |
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753 print('Load features to compute a maximum size') |
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754 return None |
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755 |
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756 def getInstantsCrossingLane(self, p1, p2): |
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757 '''Returns the instant(s) |
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758 at which the object passes from one side of the segment to the other |
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759 empty list if there is no crossing''' |
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760 indices = self.positions.getIntersections(p1, p2) |
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761 return [t+self.getFirstInstant() for t in indices] |
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762 |
244
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763 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
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764 '''Predicts the position of object at instant+deltaT, |
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765 at constant speed''' |
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766 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) |
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767 |
345
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768 def classifyUserTypeSpeed(self, threshold, statisticsFunc = median): |
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769 '''Classifies slow and fast road users |
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770 slow: non-motorized -> pedestrians |
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771 fast: motorized -> cars''' |
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772 if statisticsFunc(self.velocities.norm()) >= threshold: |
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773 self.setUserType(userType2Num['car']) |
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774 else: |
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775 self.setUserType(userType2Num['pedestrian']) |
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776 |
67
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777 @staticmethod |
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778 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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779 'A positive result indicates that the road users are getting closer' |
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780 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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781 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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782 return Point.dot(deltap, deltav) |
67
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783 |
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784 @staticmethod |
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785 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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786 'A positive result indicates that the road users are getting closer' |
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787 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
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788 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
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789 |
62
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790 def plotRoadUsers(objects, colors): |
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791 '''Colors is a PlottingPropertyValues instance''' |
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792 from matplotlib.pyplot import figure, axis |
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793 figure() |
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794 for obj in objects: |
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795 obj.draw(colors.get(obj.userType)) |
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796 axis('equal') |
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797 |
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798 |
2
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799 if __name__ == "__main__": |
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800 import doctest |
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801 import unittest |
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802 suite = doctest.DocFileSuite('tests/moving.txt') |
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803 #suite = doctest.DocTestSuite() |
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804 unittest.TextTestRunner().run(suite) |
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805 #doctest.testmod() |
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806 #doctest.testfile("example.txt") |