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annotate python/moving.py @ 284:f2cf16ad798f

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added LCSS for trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 21 Dec 2012 18:33:36 -0500
parents 8d44fb1756bc
children e0d41c7f53d4
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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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
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9 #from shapely.geometry import Polygon
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11 __metaclass__ = type
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12
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13 class Interval:
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14 '''Generic Interval'''
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15 def __init__(self, first=0, last=-1, revert = False):
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16 'Warning, do not revert if last<first, it contradicts the definition of empty'
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17 if revert and last<first:
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18 self.first=last
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19 self.last=first
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20 else:
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21 self.first=first
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22 self.last=last
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24 def __str__(self):
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25 return '[{0}, {1}]'.format(self.first, self.last)
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26
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27 def __repr__(self):
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28 return self.__str__()
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30 def empty(self):
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31 return self.first > self.last
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33 def length(self):
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34 '''Returns the length of the interval'''
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35 return float(max(0,self.last-self.first))
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37 def equal(self, i2):
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38 return self.first==i2.first and self.last == i2.last
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39
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40 def getList(self):
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41 return [self.first, self.last]
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43 def contains(self, instant):
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44 return (self.first<=instant and self.last>=instant)
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46 def inside(self, interval2):
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47 'indicates if the temporal interval of self is comprised in interval2'
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48 return (self.first >= interval2.first) and (self.last <= interval2.last)
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49
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50 def union(self, interval2):
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51 '''Smallest interval comprising self and interval2'''
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52 return Interval(min(self.first, interval2.first), max(self.last, interval2.last))
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54 def intersection(self, interval2):
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55 '''Largest interval comprised in both self and interval2'''
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56 return Interval(max(self.first, interval2.first), min(self.last, interval2.last))
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57
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58 def distance(self, interval2):
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59 if not self.intersection(interval2).empty():
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60 return 0
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61 elif self.first > interval2.last:
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62 return self.first - interval2.last
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63 elif self.last < interval2.first:
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64 return interval2.first - self.last
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65 else:
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66 return None
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68
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69 def unionIntervals(intervals):
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70 'returns the smallest interval containing all intervals'
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71 inter = intervals[0]
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72 for i in intervals[1:]:
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73 inter = inter.union(i)
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74 return inter
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75
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76
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77 class TimeInterval(Interval):
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78 '''Temporal interval based on frame numbers (hence the modified length method)
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79 may be modified directly by setting first and last'''
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80
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81 def __init__(self, first=0, last=-1):
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82 Interval.__init__(self, first, last, False)
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83
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84 def __getitem__(self, i):
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85 if not self.empty():
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86 return self.first+i
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87
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88 def __iter__(self):
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89 self.iterInstantNum = -1
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90 return self
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91
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92 def next(self):
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93 if self.iterInstantNum >= self.length()-1:
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94 raise StopIteration
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95 else:
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96 self.iterInstantNum += 1
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97 return self[self.iterInstantNum]
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98
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99 def length(self):
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100 '''Returns the length of the interval'''
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101 return float(max(0,self.last-self.first+1))
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102
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103 # class BoundingPolygon:
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104 # '''Class for a polygon bounding a set of points
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105 # with methods to create intersection, unions...
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106 # '''
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107 # We will use the polygon class of Shapely
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108
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109 class STObject:
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110 '''Class for spatio-temporal object
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111 i.e. with temporal and spatial existence
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112 (time interval and bounding polygon for positions (e.g. rectangle)).
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113 It does not mean that the object is defined
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114 for all time instants within the time interval'''
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115
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116 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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117 self.num = num
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118 self.timeInterval = timeInterval
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119 self.boundingPolygon = boundingPolygon
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120
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121 def empty(self):
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122 return self.timeInterval.empty() or not self.boudingPolygon
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123
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124 def getId(self):
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125 return self.num
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126
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127 def getFirstInstant(self):
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128 return self.timeInterval.first
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129
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130 def getLastInstant(self):
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131 return self.timeInterval.last
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132
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133 def getTimeInterval(self):
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134 return self.timeInterval
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135
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136 def existsAtInstant(self, t):
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137 return self.timeInterval.contains(t)
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138
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139 def commonTimeInterval(self, obj2):
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140 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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141
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142 class Point:
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143 def __init__(self, x, y):
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144 self.x = x
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diff changeset
145 self.y = y
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146
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147 def __str__(self):
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148 return '(%f,%f)'%(self.x,self.y)
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149
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150 def __repr__(self):
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151 return self.__str__()
25
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152
184
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153 def __add__(self, other):
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154 return Point(self.x+other.x, self.y+other.y)
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155
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156 def __sub__(self, other):
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157 return Point(self.x-other.x, self.y-other.y)
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158
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159 def multiply(self, alpha):
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160 return Point(self.x*alpha, self.y*alpha)
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161
211
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162 def draw(self, options = 'o', **kwargs):
41
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163 from matplotlib.pylab import plot
211
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164 plot([self.x], [self.y], options, **kwargs)
41
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165
38
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166 def norm2Squared(self):
43
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167 '''2-norm distance (Euclidean distance)'''
38
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168 return self.x*self.x+self.y*self.y
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169
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170 def norm2(self):
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171 '2-norm distance (Euclidean distance)'
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172 return sqrt(self.norm2Squared())
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173
284
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174 def norm1(self):
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175 return abs(self.x)+abs(self.y)
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176
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177 def normMax(self):
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178 return max(abs(self.x),abs(self.y))
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179
64
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180 def aslist(self):
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181 return [self.x, self.y]
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182
203
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183 def astuple(self):
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184 return (self.x, self.y)
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185
223
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186 def asint(self):
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187 return Point(int(self.x), int(self.y))
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188
98
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189 def project(self, homography):
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190 from numpy.core.multiarray import array
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191 projected = cvutils.projectArray(homography, array([[self.x], [self.y]]))
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192 return Point(projected[0], projected[1])
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193
79
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194 def inPolygon(self, poly):
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195 '''Returns if the point x, y is inside the polygon.
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196 The polygon is defined by the ordered list of points in poly
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197
92
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diff changeset
198 taken from http://www.ariel.com.au/a/python-point-int-poly.html
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199
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200 Use points_inside_poly from matplotlib.nxutils'''
79
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201
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202 n = len(poly);
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diff changeset
203 counter = 0;
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204
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205 p1 = poly[0];
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206 for i in range(n+1):
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207 p2 = poly[i % n];
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diff changeset
208 if self.y > min(p1.y,p2.y):
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diff changeset
209 if self.y <= max(p1.y,p2.y):
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diff changeset
210 if self.x <= max(p1.x,p2.x):
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diff changeset
211 if p1.y != p2.y:
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diff changeset
212 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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diff changeset
213 if p1.x == p2.x or self.x <= xinters:
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diff changeset
214 counter+=1;
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215 p1=p2
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216 return (counter%2 == 1);
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217
49
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diff changeset
218 @staticmethod
67
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219 def dot(p1, p2):
89
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diff changeset
220 'Scalar product'
67
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diff changeset
221 return p1.x*p2.x+p1.y*p2.y
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diff changeset
222
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diff changeset
223 @staticmethod
90
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diff changeset
224 def cross(p1, p2):
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225 'Cross product'
89
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diff changeset
226 return p1.x*p2.y-p1.y*p2.x
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227
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diff changeset
228 @staticmethod
38
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diff changeset
229 def distanceNorm2(p1, p2):
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230 return (p1-p2).norm2()
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231
64
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diff changeset
232 @staticmethod
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diff changeset
233 def plotAll(points, color='r'):
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diff changeset
234 from matplotlib.pyplot import scatter
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diff changeset
235 scatter([p.x for p in points],[p.y for p in points], c=color)
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diff changeset
236
250
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diff changeset
237 class NormAngle:
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diff changeset
238 'alternate encoding of a point, by its norm and orientation'
245
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diff changeset
239
250
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diff changeset
240 def __init__(self, norm, angle):
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diff changeset
241 self.norm = norm
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diff changeset
242 self.angle = angle
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243
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diff changeset
244 @staticmethod
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diff changeset
245 def fromPoint(p):
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diff changeset
246 from math import atan2
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diff changeset
247 norm = p.norm2()
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diff changeset
248 if norm > 0:
259
8ab76b95ee72 added code to save collision points and crossing zones in txt files
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parents: 258
diff changeset
249 angle = atan2(p.y, p.x)
250
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diff changeset
250 return NormAngle(norm, angle)
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251
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diff changeset
252 def __add__(self, other):
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diff changeset
253 'a norm cannot become negative'
255
13ec22bec5d4 corrected typos and bugs and added a test
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diff changeset
254 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
250
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diff changeset
255
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diff changeset
256 def getPoint(self):
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diff changeset
257 from math import cos, sin
255
13ec22bec5d4 corrected typos and bugs and added a test
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parents: 250
diff changeset
258 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
250
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diff changeset
259
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diff changeset
260
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 249
diff changeset
261 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
245
bd8ab323c198 corrected issue with predictPosiont static method
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parents: 244
diff changeset
262 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
250
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parents: 249
diff changeset
263 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
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parents: 249
diff changeset
264
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diff changeset
265 def predictPosition(position, speedOrientation, control, maxSpeed = None):
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parents: 249
diff changeset
266 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta)
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parents: 249
diff changeset
267 speedOrientation is the other encoding of velocity, (speed, orientation)
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parents: 249
diff changeset
268 speedOrientation and control are NormAngle'''
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parents: 249
diff changeset
269 predictedSpeedTheta = speedOrientation+control
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parents: 249
diff changeset
270 if maxSpeed:
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parents: 249
diff changeset
271 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed)
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parents: 249
diff changeset
272 predictedPosition = position+predictedSpeedTheta.getPoint()
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parents: 249
diff changeset
273 return predictedPosition, predictedSpeedTheta
245
bd8ab323c198 corrected issue with predictPosiont static method
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parents: 244
diff changeset
274
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
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parents: 243
diff changeset
275
184
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parents: 182
diff changeset
276 class FlowVector:
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parents: 182
diff changeset
277 '''Class to represent 4-D flow vectors,
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parents: 182
diff changeset
278 ie a position and a velocity'''
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parents: 182
diff changeset
279 def __init__(self, position, velocity):
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parents: 182
diff changeset
280 'position and velocity should be Point instances'
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diff changeset
281 self.position = position
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diff changeset
282 self.velocity = velocity
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283
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284 def __add__(self, other):
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diff changeset
285 return FlowVector(self.position+other.position, self.velocity+other.velocity)
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286
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diff changeset
287 def multiply(self, alpha):
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diff changeset
288 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha))
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diff changeset
289
211
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diff changeset
290 def draw(self, options = '', **kwargs):
184
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diff changeset
291 from matplotlib.pylab import plot
211
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292 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs)
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293 self.position.draw(options+'x', **kwargs)
184
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294
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295 @staticmethod
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296 def similar(f1, f2, maxDistance2, maxDeltavelocity2):
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diff changeset
297 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2
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298
152
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299 def segmentIntersection(p1, p2, p3, p4):
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300 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise'''
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diff changeset
301 from numpy import matrix
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302 from numpy.linalg import linalg, det
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303
258
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304 if (Interval(p1.x,p2.x, True).intersection(Interval(p3.x,p4.x, True)).empty()
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diff changeset
305 or Interval(p1.y,p2.y, True).intersection(Interval(p3.y,p4.y, True)).empty()):
152
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306 return None
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307 else:
258
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308 dp1 = p2-p1#[s1[0][1]-s1[0][0], s1[1][1]-s1[1][0]]
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309 dp2 = p4-p3#[s2[0][1]-s2[0][0], s2[1][1]-s2[1][0]]
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310
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311 A = matrix([[dp1.y, -dp1.x],
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312 [dp2.y, -dp2.x]])
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313 B = matrix([[dp1.y*p1.x-dp1.x*p1.y],
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diff changeset
314 [dp2.y*p3.x-dp2.x*p3.y]])
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diff changeset
315
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316 if linalg.det(A) == 0:#crossProduct(ds1, ds2) == 0:
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317 return None
152
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318 else:
258
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diff changeset
319 intersection = linalg.solve(A,B)
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diff changeset
320 if (utils.inBetween(p1.x, p2.x, intersection[0,0])
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diff changeset
321 and utils.inBetween(p3.x, p4.x, intersection[0,0])
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diff changeset
322 and utils.inBetween(p1.y, p2.y, intersection[1,0])
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diff changeset
323 and utils.inBetween(p3.y, p4.y, intersection[1,0])):
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diff changeset
324 return Point(intersection[0,0], intersection[1,0])
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diff changeset
325 else:
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diff changeset
326 return None
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327
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diff changeset
328 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection
152
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329
7
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330 class Trajectory:
2
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331 '''Class for trajectories
22
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332 i.e. a temporal sequence of positions
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333
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334 the class is iterable.'''
7
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335
79
5d487f183fe2 added method to test points in polygons and tests
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336 def __init__(self, positions=None):
203
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diff changeset
337 if positions != None:
113
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diff changeset
338 self.positions = positions
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diff changeset
339 else:
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diff changeset
340 self.positions = [[],[]]
43
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diff changeset
341
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diff changeset
342 @staticmethod
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diff changeset
343 def load(line1, line2):
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diff changeset
344 return Trajectory([[float(n) for n in line1.split(' ')],
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diff changeset
345 [float(n) for n in line2.split(' ')]])
7
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diff changeset
346
256
dc1faa7287bd added the normal adaptation class
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diff changeset
347 @staticmethod
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diff changeset
348 def fromPointList(points):
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diff changeset
349 t = Trajectory()
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diff changeset
350 for p in points:
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diff changeset
351 t.addPosition(p)
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diff changeset
352 return t
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diff changeset
353
16
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parents: 14
diff changeset
354 def __str__(self):
39
e47168f6b694 corrected printing bug
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parents: 38
diff changeset
355 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16
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parents: 14
diff changeset
356
69
cc192d0450b3 added full support for two implementations of indicators, with tests
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diff changeset
357 def __repr__(self):
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diff changeset
358 return str(self)
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diff changeset
359
23
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parents: 22
diff changeset
360 def __getitem__(self, i):
25
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parents: 23
diff changeset
361 return Point(self.positions[0][i], self.positions[1][i])
23
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parents: 22
diff changeset
362
22
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parents: 21
diff changeset
363 def __iter__(self):
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parents: 21
diff changeset
364 self.iterInstantNum = 0
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parents: 21
diff changeset
365 return self
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parents: 21
diff changeset
366
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parents: 21
diff changeset
367 def next(self):
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parents: 21
diff changeset
368 if self.iterInstantNum >= self.length():
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parents: 21
diff changeset
369 raise StopIteration
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parents: 21
diff changeset
370 else:
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parents: 21
diff changeset
371 self.iterInstantNum += 1
23
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parents: 22
diff changeset
372 return self[self.iterInstantNum-1]
22
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parents: 21
diff changeset
373
203
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diff changeset
374 def length(self):
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diff changeset
375 return len(self.positions[0])
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diff changeset
376
284
f2cf16ad798f added LCSS for trajectories
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parents: 280
diff changeset
377 def __len__(self):
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diff changeset
378 return self.length()
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diff changeset
379
71
45e958ccd9bd added new addPosition method to Trajectory
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diff changeset
380 def addPositionXY(self, x, y):
113
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diff changeset
381 self.positions[0].append(x)
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diff changeset
382 self.positions[1].append(y)
7
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parents: 6
diff changeset
383
71
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parents: 69
diff changeset
384 def addPosition(self, p):
79
5d487f183fe2 added method to test points in polygons and tests
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parents: 74
diff changeset
385 self.addPositionXY(p.x, p.y)
182
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parents: 152
diff changeset
386
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parents: 152
diff changeset
387 @staticmethod
270
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diff changeset
388 def _draw(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs):
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 6
diff changeset
389 from matplotlib.pylab import plot
203
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diff changeset
390 if lastCoordinate == None:
270
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diff changeset
391 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs)
203
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diff changeset
392 elif 0 <= lastCoordinate <= len(positions[0]):
270
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parents: 268
diff changeset
393 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
394 if withOrigin:
211
ada6e8fbe4c6 2 Changes :
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parents: 203
diff changeset
395 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs)
182
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parents: 152
diff changeset
396
203
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parents: 185
diff changeset
397 def project(self, homography):
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parents: 185
diff changeset
398 from numpy.core.multiarray import array
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parents: 185
diff changeset
399 projected = cvutils.projectArray(homography, array(self.positions))
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parents: 185
diff changeset
400 return Trajectory(projected)
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parents: 185
diff changeset
401
270
05c9b0cb8202 updates for drawing
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diff changeset
402 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
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parents: 268
diff changeset
403 Trajectory._draw(self.positions, options, withOrigin, None, timeStep, **kwargs)
182
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parents: 152
diff changeset
404
270
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diff changeset
405 def drawAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
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parents: 268
diff changeset
406 Trajectory._draw(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs)
203
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parents: 185
diff changeset
407
270
05c9b0cb8202 updates for drawing
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parents: 268
diff changeset
408 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
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parents: 152
diff changeset
409 from matplotlib.pylab import plot
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
410 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]],
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
411 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]]
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
412 Trajectory._draw(imgPositions, options, withOrigin, timeStep, **kwargs)
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
413
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
414 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
415 return self.positions[0]
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
416
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
417 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
418 return self.positions[1]
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
419
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
420 def asArray(self):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
421 from numpy.core.multiarray import array
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
422 return array(self.positions)
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
423
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
424 def xBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
425 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
426 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates()))
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
427
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
428 def yBounds(self):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
429 # look for function that does min and max in one pass
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
430 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates()))
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
431
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
432 def add(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
433 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
434 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
435 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
436 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
437 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
438 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
439 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
440
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
441 def subtract(self, traj2):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
442 '''Returns a new trajectory of the same length'''
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
443 if self.length() != traj2.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
444 print 'Trajectories of different lengths'
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
445 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
446 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
447 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
448 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
449
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
450 def norm(self):
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
451 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
452 # def add(x, y): return x+y
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
453 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
454 # return sqrt(sq)
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
455 from numpy import hypot
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
456 return hypot(self.positions[0], self.positions[1])
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 13
diff changeset
457
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
458 def cumulatedDisplacement(self):
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
459 'Returns the sum of the distances between each successive point'
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
460 displacement = 0
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
461 for i in xrange(self.length()-1):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
462 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
463 return displacement
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
464
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
465 def wiggliness(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
466 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
467
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
468 def getIntersections(self, p1, p2):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
469 '''Returns a list of the indices at which the trajectory
91
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
470 intersects with the segment of extremities p1 and p2
daa05fae1a70 modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 90
diff changeset
471 the list is empty if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
472 indices = []
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
473
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
474 for i in xrange(self.length()-1):
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
475 q1=self.__getitem__(i)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
476 q2=self.__getitem__(i+1)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
477 p = utils.segmentIntersection(q1, q2, p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
478 if p:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
479 if q1.x != q2.x:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
480 ratio = (p.x-q1.x)/(q2.x-q1.x)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
481 elif q1.y != q2.y:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
482 ratio = (p.y-q1.y)/(q2.y-q1.y)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
483 else:
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
484 ratio = 0
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
485 indices.append(i+ratio)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
486 return indices
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
487
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
488 def getTrajectoryInInterval(self, inter):
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
489 if inter.first >=0 and inter.last<= self.length():
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
490 return Trajectory([self.positions[0][inter.first:inter.last],
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
491 self.positions[1][inter.first:inter.last]])
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
492 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
493 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
494
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
495 def getTrajectoryInPolygon(self, polygon):
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
496 '''Returns the set of points inside the polygon
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
497 (array of Nx2 coordinates of the polygon vertices)'''
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
498 import matplotlib.nxutils as nx
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
499 traj = Trajectory()
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
500 result = nx.points_inside_poly(self.asArray().T, polygon)
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
501 for i in xrange(self.length()):
92
a5ef9e40688e makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 91
diff changeset
502 if result[i]:
113
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
503 traj.addPositionXY(self.positions[0][i], self.positions[1][i])
606010d1d9a4 corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 108
diff changeset
504 return traj
79
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
505
5d487f183fe2 added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 74
diff changeset
506 # version 2: use shapely polygon contains
19
5a21d2cfee44 added polygon plotting
Nicolas Saunier <nico@confins.net>
parents: 16
diff changeset
507
284
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
508 @staticmethod
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
509 def norm2LCSS(t1, t2, threshold):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
510 return utils.LCSS(t1, t2, threshold, Point.distanceNorm2)
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
511
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
512 @staticmethod
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
513 def normMaxLCSS(t1, t2, threshold):
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
514 return utils.LCSS(t1, t2, threshold, lambda p1, p2: (p1-p2).normMax())
f2cf16ad798f added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 280
diff changeset
515
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
516 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
517 # Moving Objects
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
518 ##################
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
519
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
520 userTypeNames = ['car',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
521 'pedestrian',
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
522 'twowheels',
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
523 'bus',
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
524 'truck']
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
525
185
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
526 userType2Num = utils.inverseEnumeration(userTypeNames)
c06379f25ab8 utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 184
diff changeset
527
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
528 class MovingObject(STObject):
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
529 '''Class for moving objects
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
530 i.e. with a trajectory and a geometry (volume) (constant)
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
531 and a usertype (e.g. road user)
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
532 '''
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
533
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
534 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
535 STObject.__init__(self, num, timeInterval)
16
9d6831cfe675 added tools for speed
Nicolas Saunier <nico@confins.net>
parents: 14
diff changeset
536 self.positions = positions
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
537 self.geometry = geometry
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
538 self.userType = userType
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
539 # compute bounding polygon from trajectory
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 6
diff changeset
540
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
541 def getObjectInTimeInterval(self, inter):
54
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
542 '''Returns a new object extracted from self,
c354d41ef7cd corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 49
diff changeset
543 restricted to time interval inter'''
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
544 intersection = inter.intersection(self.getTimeInterval())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
545 if not intersection.empty():
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
546 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant())
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
547 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
548 if self.velocities:
97
b3a1c26e2f22 corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 96
diff changeset
549 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval)
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
550 return obj
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
551 else:
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
552 print 'The object does not exist at '+str(inter)
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
553 return None
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
554
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
555 def length(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
556 return self.timeInterval.length()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
557
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
558 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
559 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
560
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
561 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
562 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
563
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
564 def setFeatures(self, features):
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
565 self.features = [features[i] for i in self.featureNumbers]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
566
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
567 def getSpeeds(self):
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
568 return self.getVelocities().norm()
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
569
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
570 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
571 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
572
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
573 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
574 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
575
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
576 def getPositionAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
577 return self.positions[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
578
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
579 def getVelocityAtInstant(self, i):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
580 return self.velocities[i-self.getFirstInstant()]
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
581
21
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
582 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
583 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
584
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
585 def getYCoordinates(self):
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
586 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
587
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
588 def draw(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
589 self.positions.draw(options, withOrigin, timeStep, **kwargs)
182
d3f6de6c3918 added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 152
diff changeset
590
270
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
591 def drawOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs):
05c9b0cb8202 updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
592 self.positions.drawOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs)
22
169cd4679366 made Trajectory iterable
Nicolas Saunier <nico@confins.net>
parents: 21
diff changeset
593
248
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
594 def play(self, videoFilename, homography = None):
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
595 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant())
571ba5ed22e2 added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
596
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
597 def getInstantsCrossingLane(self, p1, p2):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
598 '''Returns the instant(s)
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
599 at which the object passes from one side of the segment to the other
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
600 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
601 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 79
diff changeset
602 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
603
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
604 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
605 '''Predicts the position of object at instant+deltaT,
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
606 at constant speed'''
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
607 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 223
diff changeset
608
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
609 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
610 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
611 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
612 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
613 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
614 return Point.dot(deltap, deltav)
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
615
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
616 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
617 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
618 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
619 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
620 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
148
ad21db62b785 bug correction for cosine functions in python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
621 return Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
622
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
623 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
624 '''Colors is a PlottingPropertyValues instance'''
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
625 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
626 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
627 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
628 obj.draw(colors.get(obj.userType))
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
629 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
630
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
631
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
632 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
633 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
634 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
635 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
636 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
637 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
638 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
639 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
640