Mercurial Hosting > traffic-intelligence
annotate trafficintelligence/moving.py @ 1198:fa07a78b29f6
minor modif, change to makefile for repo opencv installation
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sat, 08 Oct 2022 13:17:35 -0400 |
parents | 0475b4cd0cfb |
children | 7b3384a8e409 |
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 copy |
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5 from math import sqrt, atan2, cos, sin |
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6 |
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7 from numpy import median, mean, array, arange, zeros, ones, hypot, NaN, std, floor, ceil, float32, argwhere, minimum |
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8 from matplotlib.pyplot import plot, text |
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9 from scipy.stats import scoreatpercentile |
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10 from scipy.spatial.distance import cdist |
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11 from scipy.signal import savgol_filter |
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12 |
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13 try: |
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14 from shapely.geometry import Polygon, Point as shapelyPoint |
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15 from shapely.prepared import prep, PreparedGeometry |
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16 shapelyAvailable = True |
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17 except ImportError: |
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18 print('Shapely library could not be loaded') |
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19 shapelyAvailable = False |
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20 |
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21 from trafficintelligence import utils, cvutils |
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22 from trafficintelligence.base import VideoFilenameAddable |
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23 |
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24 |
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25 class Interval(object): |
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26 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 27 def __init__(self, first=0, last=-1, revert = False): |
28 if revert and last<first: | |
29 self.first=last | |
30 self.last=first | |
31 else: | |
32 self.first=first | |
33 self.last=last | |
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34 |
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35 def __str__(self): |
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36 return '{0}-{1}'.format(self.first, self.last) |
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37 |
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38 def __repr__(self): |
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39 return self.__str__() |
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40 |
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41 def __eq__(self, other): |
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42 return ((self.first == other.first) and (self.last == other.last)) or ((self.first == other.last) and (self.last == other.first)) |
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43 |
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44 def empty(self): |
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45 return self.first > self.last |
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46 |
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47 def center(self): |
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48 return (self.first+self.last)/2. |
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49 |
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50 def length(self): |
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51 '''Returns the length of the interval''' |
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52 return float(max(0,self.last-self.first)) |
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53 |
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54 def equal(self, i2): |
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55 return self.first==i2.first and self.last == i2.last |
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56 |
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57 def getList(self): |
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58 return [self.first, self.last] |
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59 |
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60 def contains(self, instant): |
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61 return (self.first<=instant and self.last>=instant) |
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62 |
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63 def inside(self, interval2): |
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64 '''Indicates if the temporal interval of self is comprised in interval2''' |
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65 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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66 |
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67 def shift(self, offset): |
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68 self.first += offset |
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69 self.last += offset |
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70 |
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71 @classmethod |
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72 def parse(cls, s): |
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73 if '-' in s: |
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74 tmp = s.split('-') |
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75 if len(tmp) == 2: |
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76 return cls(int(tmp[0]), int(tmp[1])) # TODO with floats? |
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77 print(s+' is not a valid representation of an interval') |
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78 return None |
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79 |
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80 @classmethod |
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81 def union(cls, interval1, interval2): |
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82 '''Smallest interval comprising self and interval2''' |
1076 | 83 return cls(min(interval1.first, interval2.first), max(interval1.last, interval2.last)) |
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84 |
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85 @classmethod |
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86 def intersection(cls, interval1, interval2): |
104
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87 '''Largest interval comprised in both self and interval2''' |
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88 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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89 |
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90 def distance(self, interval2): |
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91 if not Interval.intersection(self, interval2).empty(): |
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92 return 0 |
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93 elif self.first > interval2.last: |
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94 return self.first - interval2.last |
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95 elif self.last < interval2.first: |
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96 return interval2.first - self.last |
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97 else: |
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98 return None |
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99 |
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100 @classmethod |
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101 def unionIntervals(cls, intervals): |
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102 'returns the smallest interval containing all intervals' |
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103 inter = cls(intervals[0].first, intervals[0].last) |
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104 for i in intervals[1:]: |
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105 inter = cls.union(inter, i) |
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106 return inter |
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107 |
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108 |
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109 class TimeInterval(Interval): |
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110 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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111 |
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112 For example: based on frame numbers (hence the modified length method) |
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113 It may be modified directly by setting first and last |
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114 It also (mostly) works with datetime.datetime''' |
26 | 115 |
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116 def __init__(self, first=0, last=-1, revert = False): |
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117 super(TimeInterval, self).__init__(first, last, revert) |
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118 |
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119 @staticmethod |
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120 def fromInterval(inter): |
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parents:
288
diff
changeset
|
121 return TimeInterval(inter.first, inter.last) |
26 | 122 |
27
44689029a86f
updated segmentIntersection and other
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parents:
26
diff
changeset
|
123 def __getitem__(self, i): |
44689029a86f
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Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
124 if not self.empty(): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
125 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
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parents:
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diff
changeset
|
126 return self.first+i |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
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parents:
524
diff
changeset
|
127 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
128 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
129 #elif isinstance( key, slice ): |
27
44689029a86f
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parents:
26
diff
changeset
|
130 |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
131 def __iter__(self): |
107
916678481896
corrected bug for TimeInterval interation and added corresponding test
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parents:
105
diff
changeset
|
132 self.iterInstantNum = -1 |
27
44689029a86f
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parents:
26
diff
changeset
|
133 return self |
44689029a86f
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parents:
26
diff
changeset
|
134 |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
135 def __next__(self): |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
136 if self.iterInstantNum >= self.length()-1: |
27
44689029a86f
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parents:
26
diff
changeset
|
137 raise StopIteration |
44689029a86f
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Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
138 else: |
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
139 self.iterInstantNum += 1 |
44689029a86f
updated segmentIntersection and other
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parents:
26
diff
changeset
|
140 return self[self.iterInstantNum] |
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updated segmentIntersection and other
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parents:
26
diff
changeset
|
141 |
26 | 142 def length(self): |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
143 '''Returns the length of the interval''' |
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
|
144 return float(max(0,self.last-self.first+1)) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
145 |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
146 def __len__(self): |
f2b52355a286
made length a STObject method
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parents:
685
diff
changeset
|
147 return self.length() |
f2b52355a286
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
148 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
149 # class BoundingPolygon: |
ffddccfab7f9
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parents:
6
diff
changeset
|
150 # '''Class for a polygon bounding a set of points |
ffddccfab7f9
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diff
changeset
|
151 # with methods to create intersection, unions... |
ffddccfab7f9
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diff
changeset
|
152 # ''' |
ffddccfab7f9
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diff
changeset
|
153 # We will use the polygon class of Shapely |
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diff
changeset
|
154 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
155 class STObject(object): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
156 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 157 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
158 |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
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parents:
1094
diff
changeset
|
159 It may not mean that the object is defined |
6 | 160 for all time instants within the time interval''' |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
161 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
162 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
ffddccfab7f9
loading shell objects from NGSIM works
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parents:
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diff
changeset
|
163 self.num = num |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
164 self.timeInterval = timeInterval |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
165 self.boundingPolygon = boundingPolygon |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
166 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
167 def empty(self): |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
168 return self.timeInterval.empty()# or not self.boudingPolygon |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
169 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
170 def getNum(self): |
211 | 171 return self.num |
172 | |
688
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
173 def __len__(self): |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
174 return self.timeInterval.length() |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
175 |
f2b52355a286
made length a STObject method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
685
diff
changeset
|
176 def length(self): |
f2b52355a286
made length a STObject method
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parents:
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diff
changeset
|
177 return self.timeInterval.length() |
f2b52355a286
made length a STObject method
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parents:
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diff
changeset
|
178 |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
179 def getFirstInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
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parents:
39
diff
changeset
|
180 return self.timeInterval.first |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
181 |
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
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diff
changeset
|
182 def getLastInstant(self): |
40
9f16aee24b7e
corrected bug for first and last of TimeInterval
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parents:
39
diff
changeset
|
183 return self.timeInterval.last |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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parents:
0
diff
changeset
|
184 |
1001
cc7c6b821ae6
added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
998
diff
changeset
|
185 def setFirstInstant(self, t): |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
186 if t <= self.timeInterval.last: |
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added methods for setting instants
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parents:
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diff
changeset
|
187 self.timeInterval.first = t |
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added methods for setting instants
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parents:
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diff
changeset
|
188 else: |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
189 print('new first instant is after last, not changing') |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
190 |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
191 def setLastInstant(self, t): |
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added methods for setting instants
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parents:
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diff
changeset
|
192 if t >= self.timeInterval.first: |
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added methods for setting instants
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parents:
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diff
changeset
|
193 self.timeInterval.last = t |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
194 else: |
cc7c6b821ae6
added methods for setting instants
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parents:
998
diff
changeset
|
195 print('new last instant is before first, not changing') |
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added methods for setting instants
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
998
diff
changeset
|
196 |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
197 def getTimeInterval(self): |
6d11d9e7ad4e
methods for trajectories and objects
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41
diff
changeset
|
198 return self.timeInterval |
6d11d9e7ad4e
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parents:
41
diff
changeset
|
199 |
108
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
200 def existsAtInstant(self, t): |
6efe470ea5e5
added test existsAtInstant to STObject
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parents:
107
diff
changeset
|
201 return self.timeInterval.contains(t) |
6efe470ea5e5
added test existsAtInstant to STObject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
107
diff
changeset
|
202 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
203 def commonTimeInterval(self, obj2): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
204 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
205 |
785
3aa6102ccc12
addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
781
diff
changeset
|
206 def shiftTimeInterval(self, offset): |
3aa6102ccc12
addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
781
diff
changeset
|
207 self.timeInterval.shift(offset) |
3aa6102ccc12
addressed issues with ground truth annotations shifted in time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
781
diff
changeset
|
208 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
209 class Point(object): |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
210 def __init__(self, x, y): |
28e546861263
added Point class and modified trajectory accordingly
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parents:
23
diff
changeset
|
211 self.x = x |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
212 self.y = y |
28e546861263
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Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
213 |
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
214 def __str__(self): |
675
ab3fdff42624
corrected old format for Point.__str__
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
674
diff
changeset
|
215 return '({:f},{:f})'.format(self.x,self.y) |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
216 |
28e546861263
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parents:
23
diff
changeset
|
217 def __repr__(self): |
98
b85912ab4064
refactored projection functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
97
diff
changeset
|
218 return self.__str__() |
25
28e546861263
added Point class and modified trajectory accordingly
Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
219 |
776
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
220 def __eq__(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
221 return (self.x == other.x) and (self.y == other.y) |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
222 |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
223 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
224 return Point(self.x+other.x, self.y+other.y) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
225 |
25
28e546861263
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Nicolas Saunier <nico@confins.net>
parents:
23
diff
changeset
|
226 def __sub__(self, other): |
28e546861263
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parents:
23
diff
changeset
|
227 return Point(self.x-other.x, self.y-other.y) |
28e546861263
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parents:
23
diff
changeset
|
228 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
229 def __neg__(self): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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parents:
411
diff
changeset
|
230 return Point(-self.x, -self.y) |
575
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
231 |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
232 def __mul__(self, alpha): |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
233 'Warning, returns a new Point' |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
234 return Point(self.x*alpha, self.y*alpha) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
235 |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
236 def divide(self, alpha): |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
237 'Warning, returns a new Point' |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
238 return Point(self.x/alpha, self.y/alpha) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
239 |
575
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
240 def __getitem__(self, i): |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
241 if i == 0: |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
242 return self.x |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
243 elif i == 1: |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
diff
changeset
|
244 return self.y |
13df64a9ff9d
added function to access point class as 2D list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
574
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245 else: |
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246 raise IndexError() |
573
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247 |
690 | 248 def orthogonal(self, clockwise = True): |
249 'Returns the orthogonal vector' | |
250 if clockwise: | |
251 return Point(self.y, -self.x) | |
252 else: | |
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253 return Point(-self.y, self.x) |
451
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254 |
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255 def normalize(self): |
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256 return self.divide(self.norm2()) |
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257 |
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258 def projectLocal(self, v, clockwise = True): |
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259 'Projects point projected on v, v.orthogonal()' |
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260 e1 = v.normalize() |
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261 e2 = e1.orthogonal(clockwise) |
1086
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262 return Point(Point.dot(self, e1), Point.dot(self, e2)) |
945
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263 |
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264 def rotate(self, theta): |
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265 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta)) |
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266 |
515
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267 def plot(self, options = 'o', **kwargs): |
211 | 268 plot([self.x], [self.y], options, **kwargs) |
41 | 269 |
771 | 270 @staticmethod |
1170
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271 def plotSegment(p1, p2, options = 'o', withOrigin = True, **kwargs): |
771 | 272 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs) |
1170
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273 p1.plot('or', **kwargs) |
771 | 274 |
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275 def angle(self): |
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276 return atan2(self.y, self.x) |
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277 |
38
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278 def norm2Squared(self): |
43
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279 '''2-norm distance (Euclidean distance)''' |
567
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280 return self.x**2+self.y**2 |
38
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281 |
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282 def norm2(self): |
288
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284
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283 '''2-norm distance (Euclidean distance)''' |
38
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284 return sqrt(self.norm2Squared()) |
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285 |
284
f2cf16ad798f
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280
diff
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|
286 def norm1(self): |
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287 return abs(self.x)+abs(self.y) |
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288 |
284
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289 def normMax(self): |
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diff
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290 return max(abs(self.x),abs(self.y)) |
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291 |
64
c75bcdaed00f
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diff
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292 def aslist(self): |
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diff
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293 return [self.x, self.y] |
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294 |
203
e2f31813ade6
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diff
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295 def astuple(self): |
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296 return (self.x, self.y) |
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diff
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297 |
223
c31722fcc9de
minor modifications for integer drawing in OpenCV
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diff
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298 def asint(self): |
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299 return Point(int(self.x), int(self.y)) |
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300 |
372
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301 if shapelyAvailable: |
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302 def asShapely(self): |
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303 return shapelyPoint(self.x, self.y) |
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304 |
936
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305 def homographyProject(self, homography): |
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306 projected = cvutils.homographyProject(array([[self.x], [self.y]]), homography) |
98
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diff
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307 return Point(projected[0], projected[1]) |
b85912ab4064
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diff
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308 |
627
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diff
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|
309 def inPolygon(self, polygon): |
372
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310 '''Indicates if the point x, y is inside the polygon |
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311 (array of Nx2 coordinates of the polygon vertices) |
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312 |
92
a5ef9e40688e
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91
diff
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313 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
a5ef9e40688e
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diff
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314 |
372
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|
315 Use Polygon.contains if Shapely is installed''' |
79
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316 |
372
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317 n = polygon.shape[0]; |
79
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318 counter = 0; |
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319 |
372
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320 p1 = polygon[0,:]; |
79
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diff
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|
321 for i in range(n+1): |
372
349eb1e09f45
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diff
changeset
|
322 p2 = polygon[i % n,:]; |
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diff
changeset
|
323 if self.y > min(p1[1],p2[1]): |
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|
324 if self.y <= max(p1[1],p2[1]): |
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|
325 if self.x <= max(p1[0],p2[0]): |
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326 if p1[1] != p2[1]: |
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327 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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|
328 if p1[0] == p2[0] or self.x <= xinters: |
79
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|
329 counter+=1; |
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330 p1=p2 |
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|
331 return (counter%2 == 1); |
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|
332 |
49 | 333 @staticmethod |
573
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|
334 def fromList(p): |
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|
335 return Point(p[0], p[1]) |
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|
336 |
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fixed and simplified getSYfromXY
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|
337 @staticmethod |
67
ded58c424783
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diff
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|
338 def dot(p1, p2): |
89
f88a19695bba
added inner product
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diff
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|
339 'Scalar product' |
67
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diff
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|
340 return p1.x*p2.x+p1.y*p2.y |
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|
341 |
ded58c424783
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diff
changeset
|
342 @staticmethod |
90
f84293ad4611
renamed inner to cross product
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diff
changeset
|
343 def cross(p1, p2): |
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diff
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|
344 'Cross product' |
89
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diff
changeset
|
345 return p1.x*p2.y-p1.y*p2.x |
f88a19695bba
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|
346 |
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diff
changeset
|
347 @staticmethod |
987
f026ce2af637
found bug with direct ttc computation
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diff
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|
348 def parallel(p1, p2): |
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349 return Point.cross(p1, p2) == 0. |
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350 |
987
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|
351 @staticmethod |
378
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diff
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|
352 def cosine(p1, p2): |
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353 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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|
354 |
3805b9639647
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diff
changeset
|
355 @staticmethod |
38
0d321c23d337
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diff
changeset
|
356 def distanceNorm2(p1, p2): |
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diff
changeset
|
357 return (p1-p2).norm2() |
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diff
changeset
|
358 |
64
c75bcdaed00f
added functions for plotting points
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diff
changeset
|
359 @staticmethod |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
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diff
changeset
|
360 def plotAll(points, options = '', **kwargs): |
1109
6e8ab471ebd4
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diff
changeset
|
361 plot([p.x for p in points], [p.y for p in points], options, **kwargs) |
64
c75bcdaed00f
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diff
changeset
|
362 |
378
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added tests for movement orientation, object size
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377
diff
changeset
|
363 def similarOrientation(self, refDirection, cosineThreshold): |
3805b9639647
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diff
changeset
|
364 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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diff
changeset
|
365 return Point.cosine(self, refDirection) >= cosineThreshold |
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diff
changeset
|
366 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
367 @staticmethod |
484
6464e4f0cc26
integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
464
diff
changeset
|
368 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
369 '''Computes exact time to collision with a distance threshold |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
370 The unknown of the equation is the time to reach the intersection |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
371 between the relative trajectory of one road user |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
372 and the circle of radius collisionThreshold around the other road user''' |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
373 dv = v1-v2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
374 dp = p1-p2 |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
375 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
516
bce1fe45d1b2
corrected bugs detected by tests (because of moving functions around modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
515
diff
changeset
|
376 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
377 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
378 |
504
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
379 delta = b**2 - 4*a*c |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
380 if delta >= 0: |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
381 deltaRoot = sqrt(delta) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
382 ttc1 = (-b + deltaRoot)/(2*a) |
a40c75f04903
optimized direct time to collision computation and added tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
501
diff
changeset
|
383 ttc2 = (-b - deltaRoot)/(2*a) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
384 if ttc1 >= 0 and ttc2 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
385 return min(ttc1,ttc2) |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
386 elif ttc1 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
387 return ttc1 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
388 elif ttc2 >= 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
389 return ttc2 |
531
f012a8ad7a0e
corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
390 else: # ttc1 < 0 and ttc2 < 0: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
391 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
392 else: |
881
8ba82b371eea
work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
393 return None |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
394 |
1094
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
395 @staticmethod |
583
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
396 def midPoint(p1, p2): |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
397 'Returns the middle of the segment [p1, p2]' |
6ebfb43e938e
added midpoint function (from laurent gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
582
diff
changeset
|
398 return Point(0.5*p1.x+0.5*p2.x, 0.5*p1.y+0.5*p2.y) |
464
dcc821b98efc
integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
399 |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
400 @staticmethod |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
401 def agg(points, aggFunc = mean): |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
402 return Point(aggFunc([p.x for p in points]), aggFunc([p.y for p in points])) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
403 |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
404 @staticmethod |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
405 def boundingRectangle(points, v): |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
406 '''Returns the bounding rectangle of the points, aligned on the vector v |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
407 A list of points is returned: front left, front right, rear right, rear left''' |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
408 e1 = v.normalize() |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
409 e2 = e1.orthogonal(False) |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
410 xCoords = [] |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
411 yCoords = [] |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
412 for p in points: |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
413 xCoords.append(Point.dot(e1, p)) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
414 yCoords.append(Point.dot(e2, p)) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
415 xmin = min(xCoords) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
416 xmax = max(xCoords) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
417 ymin = min(yCoords) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
418 ymax = max(yCoords) |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
419 frontLeft = Point(xmax, ymax) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
420 frontRight = Point(xmax, ymin) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
421 rearLeft = Point(xmin, ymax) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
422 rearRight = Point(xmin, ymin) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
423 originalE1 = Point(Point.dot(e1, Point(1,0)),Point.dot(e2, Point(1,0))) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
424 originalE2 = Point(Point.dot(e1, Point(0,1)),Point.dot(e2, Point(0,1))) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
425 return [Point(Point.dot(originalE1, p), Point.dot(originalE2, p)) for p in [frontLeft, frontRight, rearRight, rearLeft]] |
1109
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
426 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
427 if shapelyAvailable: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
428 def pointsInPolygon(points, polygon): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
429 '''Optimized tests of a series of points within (Shapely) polygon (not prepared)''' |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
430 if type(polygon) == PreparedGeometry: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
431 prepared_polygon = polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
432 else: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
433 prepared_polygon = prep(polygon) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
434 return list(filter(prepared_polygon.contains, points)) |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
435 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
436 # Functions for coordinate transformation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
437 # From Paul St-Aubin's PVA tools |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
438 def prepareAlignments(alignments): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
439 '''Prepares alignments (list of splines, each typically represented as a Trajectory) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
440 - computes cumulative distances |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
441 - approximates slope singularity by giving some slope roundoff (account for roundoff error)''' |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
442 for alignment in alignments: |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
443 alignment.computeCumulativeDistances() |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
444 p1 = alignment[0] |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
445 for i in range(len(alignment)-1): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
446 p2 = alignment[i+1] |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
447 if(round(p1.x, 10) == round(p2.x, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
448 p2.x += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
449 if(round(p1.y, 10) == round(p2.y, 10)): |
1094
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
450 p2.y += 0.0000000001 |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
451 p1 = p2 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
452 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
453 def ppldb2p(qx,qy, p0x,p0y, p1x,p1y): |
1094
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
454 ''' Point-projection (Q) on line defined by 2 points (P0,P1). |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
455 http://cs.nyu.edu/~yap/classes/visual/03s/hw/h2/math.pdf |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
456 ''' |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
457 if(p0x == p1x and p0y == p1y): |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
458 return None |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
459 try: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
460 #Approximate slope singularity by giving some slope roundoff; account for roundoff error |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
461 # if(round(p0x, 10) == round(p1x, 10)): |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
462 # p1x += 0.0000000001 |
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
463 # if(round(p0y, 10) == round(p1y, 10)): |
1094
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
464 # p1y += 0.0000000001 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
465 #make the calculation |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
466 Y = (-(qx)*(p0y-p1y)-(qy*(p0y-p1y)**2)/(p0x-p1x)+p0x**2*(p0y-p1y)/(p0x-p1x)-p0x*p1x*(p0y-p1y)/(p0x-p1x)-p0y*(p0x-p1x))/(p1x-p0x-(p0y-p1y)**2/(p0x-p1x)) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
467 X = (-Y*(p1y-p0y)+qx*(p1x-p0x)+qy*(p1y-p0y))/(p1x-p0x) |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
468 except ZeroDivisionError: |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
469 print('Error: Division by zero in ppldb2p. Please report this error with the full traceback:') |
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
470 print('qx={0}, qy={1}, p0x={2}, p0y={3}, p1x={4}, p1y={5}...'.format(qx, qy, p0x, p0y, p1x, p1y)) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
471 import pdb; |
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
472 pdb.set_trace() |
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
473 return Point(X, Y) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
474 |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
475 def getSYfromXY(p, alignments, goodEnoughAlignmentDistance = 0.5): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
476 ''' Snap a point p to its nearest subsegment of it's nearest alignment (from the list alignments). |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
477 A alignment is a list of points (class Point), most likely a trajectory. |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
478 |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
479 Output: |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
480 ======= |
1094
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
481 [alignment index, |
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
482 subsegment leading point index, |
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
483 snapped point, |
c96388c696ac
adding functions for simulation, with contribution from student Lionel Nebot-Janvier, lionel.nebot-janvier@polymtl.ca
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1086
diff
changeset
|
484 subsegment distance, |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
485 alignment distance, |
659
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
486 orthogonal point offset] |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
487 |
784298512b60
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
653
diff
changeset
|
488 or None |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
489 ''' |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
490 minOffsetY = float('inf') |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
491 #For each alignment |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
492 for alignmentIdx in range(len(alignments)): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
493 #For each alignment point index |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
494 for alignment_p in range(len(alignments[alignmentIdx])-1): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
495 #Get closest point on alignment |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
496 closestPoint = ppldb2p(p.x,p.y,alignments[alignmentIdx][alignment_p][0],alignments[alignmentIdx][alignment_p][1],alignments[alignmentIdx][alignment_p+1][0],alignments[alignmentIdx][alignment_p+1][1]) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
497 if closestPoint is None: |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
498 print('Error: Alignment {0}, segment {1} has identical bounds and therefore is not a vector. Projection cannot continue.'.format(alignmentIdx, alignment_p)) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
499 return None |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
500 # check if the projected point is in between the current segment of the alignment bounds |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
501 if utils.inBetween(alignments[alignmentIdx][alignment_p][0], alignments[alignmentIdx][alignment_p+1][0], closestPoint.x) and utils.inBetween(alignments[alignmentIdx][alignment_p][1], alignments[alignmentIdx][alignment_p+1][1], closestPoint.y): |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
502 offsetY = Point.distanceNorm2(closestPoint, p) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
503 if offsetY < minOffsetY: |
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
504 minOffsetY = offsetY |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
505 snappedAlignmentIdx = alignmentIdx |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
506 snappedAlignmentLeadingPoint = alignment_p |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
507 snappedPoint = Point(closestPoint.x, closestPoint.y) |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
508 #Jump loop if significantly close |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
509 if offsetY < goodEnoughAlignmentDistance: |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
510 break |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
776
diff
changeset
|
511 |
573
cae4e5f3fe9f
fixed and simplified getSYfromXY
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
571
diff
changeset
|
512 #Get sub-segment distance |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
513 if minOffsetY != float('inf'): |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
514 subsegmentDistance = Point.distanceNorm2(snappedPoint, alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint]) |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
515 #Get cumulative alignment distance (total segment distance) |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
516 alignmentDistanceS = alignments[snappedAlignmentIdx].getCumulativeDistance(snappedAlignmentLeadingPoint) + subsegmentDistance |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
517 orthogonalAlignmentVector = (alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint+1]-alignments[snappedAlignmentIdx][snappedAlignmentLeadingPoint]).orthogonal() |
578
fe4e9d2b807d
finalizing transformcoordinates for each object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
577
diff
changeset
|
518 offsetVector = p-snappedPoint |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
519 if Point.dot(orthogonalAlignmentVector, offsetVector) < 0: |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
520 minOffsetY = -minOffsetY |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
521 return [snappedAlignmentIdx, snappedAlignmentLeadingPoint, snappedPoint, subsegmentDistance, alignmentDistanceS, minOffsetY] |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
522 else: |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
523 print('Offset for point {} is infinite (check with prepareAlignments if some alignment segments are aligned with axes)'.format(p)) |
574
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
524 return None |
e24eeb244698
first implementation of projection to curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
573
diff
changeset
|
525 |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
526 def getXYfromSY(s, y, alignmentNum, alignments): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
527 ''' Find X,Y coordinate from S,Y data. |
568
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
528 if mode = 0 : return Snapped X,Y |
538fb47b3007
minor modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
529 if mode !=0 : return Real X,Y |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
530 ''' |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
531 alignment = alignments[alignmentNum] |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
532 i = 1 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
533 while s > alignment.getCumulativeDistance(i) and i < len(alignment): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
534 i += 1 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
535 if i < len(alignment): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
536 d = s - alignment.getCumulativeDistance(i-1) # distance on subsegment |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
537 #Get difference vector and then snap |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
538 dv = alignment[i] - alignment[i-1] |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
539 normalizedV = dv.normalize() |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
540 #snapped = alignment[i-1] + normalizedV*d # snapped point coordinate along alignment |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
541 # add offset finally |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
542 orthoNormalizedV = normalizedV.orthogonal() |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
543 return alignment[i-1] + normalizedV*d + orthoNormalizedV*y |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
544 else: |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
545 print('Curvilinear point {} is past the end of the alignement'.format((s, y, alignmentNum))) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
546 return None |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
547 |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
548 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
549 class NormAngle(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
550 '''Alternate encoding of a point, by its norm and orientation''' |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
551 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
552 def __init__(self, norm, angle): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
553 self.norm = norm |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
554 self.angle = angle |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
555 |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
556 @staticmethod |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
557 def fromPoint(p): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
558 norm = p.norm2() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
559 if norm > 0: |
945
05d4302bf67e
working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
943
diff
changeset
|
560 angle = p.angle() |
339 | 561 else: |
562 angle = 0. | |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
563 return NormAngle(norm, angle) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
564 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
565 def __add__(self, other): |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
566 'a norm cannot become negative' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
567 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
568 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
569 def getPoint(self): |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
570 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
571 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
572 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
573 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
574 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
575 return initialVelocity + initialAcceleration.__mul__(nTimeSteps),initialPosition+initialVelocity.__mul__(nTimeSteps) + initialAcceleration.__mul__(nTimeSteps**2*0.5) |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
576 |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
577 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
59f547aebaac
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parents:
249
diff
changeset
|
578 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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modified prediction functions, added norm/angle representation of Points
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parents:
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diff
changeset
|
579 speedOrientation is the other encoding of velocity, (speed, orientation) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
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parents:
249
diff
changeset
|
580 speedOrientation and control are NormAngle''' |
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modified prediction functions, added norm/angle representation of Points
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parents:
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diff
changeset
|
581 predictedSpeedTheta = speedOrientation+control |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
582 if maxSpeed is not None: |
250
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
583 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
584 predictedPosition = position+predictedSpeedTheta.getPoint() |
59f547aebaac
modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
249
diff
changeset
|
585 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
244
diff
changeset
|
586 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
587 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
588 class FlowVector(object): |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
589 '''Class to represent 4-D flow vectors, |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
590 ie a position and a velocity''' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
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diff
changeset
|
591 def __init__(self, position, velocity): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
592 'position and velocity should be Point instances' |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
593 self.position = position |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
594 self.velocity = velocity |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
595 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
596 def __add__(self, other): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
597 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
d70e9b36889c
initial work on flow vectors and clustering algorithms
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parents:
182
diff
changeset
|
598 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
599 def __mul__(self, alpha): |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
600 return FlowVector(self.position.__mul__(alpha), self.velocity.__mul__(alpha)) |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
601 |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
602 def plot(self, options = '', **kwargs): |
211 | 603 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
604 self.position.plot(options+'x', **kwargs) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
605 |
184
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
606 @staticmethod |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
607 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
608 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
d70e9b36889c
initial work on flow vectors and clustering algorithms
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
182
diff
changeset
|
609 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
610 def intersection(p1, p2, p3, p4): |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
611 ''' Intersection point (x,y) of the segments [p1, p2] and [p3, p4] |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
612 Returns the intersection point and the ratio of its position along [p1, p2] from p1 |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
613 |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
614 Based on http://paulbourke.net/geometry/pointlineplane/''' |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
615 dp12 = p2-p1 |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
616 dp34 = p4-p3 |
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
617 #det = (p4.y-p3.y)*(p2.x-p1.x)-(p4.x-p3.x)*(p2.y-p1.y) |
674
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
618 det = float(dp34.y*dp12.x-dp34.x*dp12.y) |
01b89182891a
corrected bug for intersection of lines (thanks to Paul for finding)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
672
diff
changeset
|
619 if det == 0.: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
620 return None, None |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
621 else: |
571
a9c1d61a89b4
corrected bug for segment intersection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
570
diff
changeset
|
622 ua = (dp34.x*(p1.y-p3.y)-dp34.y*(p1.x-p3.x))/det |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
623 return p1+dp12.__mul__(ua), ua |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
624 |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
625 # def intersection(p1, p2, dp1, dp2): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
626 # '''Returns the intersection point between the two lines |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
627 # defined by the respective vectors (dp) and origin points (p)''' |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
628 # from numpy import matrix |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
629 # from numpy.linalg import linalg |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
630 # A = matrix([[dp1.y, -dp1.x], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
631 # [dp2.y, -dp2.x]]) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
632 # B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
633 # [dp2.y*p2.x-dp2.x*p2.y]]) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
634 |
569
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
635 # if linalg.det(A) == 0: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
636 # return None |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
637 # else: |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
638 # intersection = linalg.solve(A,B) |
0057c04f94d5
work in progress on intersections (for PET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
567
diff
changeset
|
639 # return Point(intersection[0,0], intersection[1,0]) |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
640 |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
641 def segmentIntersection(p1, p2, p3, p4): |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
642 '''Returns the intersecting point (and ratio along [p1, p2]) of the segments [p1, p2] and [p3, p4], None otherwise''' |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
643 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
644 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()): |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
645 return None, None |
152
74b1fc68d4df
re-organized code to avoid cyclic python module dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
148
diff
changeset
|
646 else: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
647 inter, ratio = intersection(p1, p2, p3, p4) |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
648 if (inter is not None |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
649 and utils.inBetween(p1.x, p2.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
650 and utils.inBetween(p3.x, p4.x, inter.x) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
651 and utils.inBetween(p1.y, p2.y, inter.y) |
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
652 and utils.inBetween(p3.y, p4.y, inter.y)): |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
653 return inter, ratio |
359
619ae9a9a788
implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
357
diff
changeset
|
654 else: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
655 return None, None |
258
d90be3c02267
reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
256
diff
changeset
|
656 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
657 def segmentLineIntersection(p1, p2, p3, p4): |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
658 '''Indicates if the line going through p1 and p2 intersects inside p3, p4''' |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
659 inter, ratio = intersection(p1, p2, p3, p4) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
660 if inter is not None and utils.inBetween(p3.x, p4.x, inter.x) and utils.inBetween(p3.y, p4.y, inter.y): |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
661 return inter, ratio |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
662 else: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
663 return None, None |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
664 |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
665 def segmentOrientationCrossing(p1, p2, p3, p4): |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
666 '''Returns the direction of the crossing, assuming there is a crossing: True means right (p3) to left (p4) (along the orthogonal vector to [p1, p2] (positive trigonometric orientation), False the other way''' |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
667 dp12 = p2-p1 |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
668 ortho = dp12.orthogonal(False) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
669 return Point.dot(ortho, p4-p3) > 0 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
670 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
671 class Trajectory(object): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
672 '''Class for trajectories: temporal sequence of positions |
22 | 673 |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
674 The class is iterable''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
675 |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
676 def __init__(self, positions=None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
677 if positions is not None: |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
678 self.positions = positions |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
679 else: |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
680 self.positions = [[],[]] |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
681 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
682 @staticmethod |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
683 def generate(p, v, nPoints): |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
684 t = Trajectory() |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
685 p0 = Point(p.x, p.y) |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
686 t.addPosition(p0) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
687 for i in range(nPoints-1): |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
688 p0 += v |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
689 t.addPosition(p0) |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
690 return t |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
691 |
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
692 @staticmethod |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
693 def load(line1, line2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
694 return Trajectory([[float(n) for n in line1.split(' ')], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
695 [float(n) for n in line2.split(' ')]]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
696 |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
697 @staticmethod |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
698 def fromPointList(points): |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
699 t = Trajectory() |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
700 if isinstance(points[0], list) or isinstance(points[0], tuple): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
701 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
702 t.addPositionXY(p[0],p[1]) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
703 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
704 for p in points: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
705 t.addPosition(p) |
256
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
706 return t |
dc1faa7287bd
added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
255
diff
changeset
|
707 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
708 def __len__(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
709 return len(self.positions[0]) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
710 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
711 def length(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
712 return self.__len__() |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
713 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
714 def empty(self): |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
715 return self.__len__() == 0 |
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
716 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
717 def __getitem__(self, i): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
718 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
719 return Point(self.positions[0][i], self.positions[1][i]) |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
720 elif isinstance(i, slice): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
721 return Trajectory([self.positions[0][i],self.positions[1][i]]) |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
722 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
723 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
724 |
16 | 725 def __str__(self): |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
726 return ' '.join([self.__getitem__(i).__str__() for i in range(self.length())]) |
16 | 727 |
69
cc192d0450b3
added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
68
diff
changeset
|
728 def __repr__(self): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
729 return self.__str__() |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
730 |
22 | 731 def __iter__(self): |
732 self.iterInstantNum = 0 | |
733 return self | |
734 | |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
735 def __next__(self): |
22 | 736 if self.iterInstantNum >= self.length(): |
737 raise StopIteration | |
738 else: | |
739 self.iterInstantNum += 1 | |
23
5f2921ad4f7e
made Trajectory indexable and timeinterval iterable
Nicolas Saunier <nico@confins.net>
parents:
22
diff
changeset
|
740 return self[self.iterInstantNum-1] |
22 | 741 |
776
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
742 def __eq__(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
743 if self.length() == other.length(): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
744 result = True |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
745 for p, po in zip(self, other): |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
746 result = result and (p == po) |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
747 return result |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
748 else: |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
749 return False |
84420159c5f4
added __eq__ functions for Point and Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
771
diff
changeset
|
750 |
1122
58efbe18f102
slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1117
diff
changeset
|
751 def append(self,other): |
58efbe18f102
slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1117
diff
changeset
|
752 '''adds positions of other to the trajectory (in-place modification)''' |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
753 for i in range(2): |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
754 self.positions[i] += other.positions[i] |
1122
58efbe18f102
slight modification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1117
diff
changeset
|
755 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
756 def setPositionXY(self, i, x, y): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
757 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
758 self.positions[0][i] = x |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
759 self.positions[1][i] = y |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
760 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
761 def setPosition(self, i, p): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
762 self.setPositionXY(i, p.x, p.y) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
763 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
764 def addPositionXY(self, x, y): |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
765 self.positions[0].append(x) |
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
766 self.positions[1].append(y) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
767 |
71
45e958ccd9bd
added new addPosition method to Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
69
diff
changeset
|
768 def addPosition(self, p): |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
769 self.addPositionXY(p.x, p.y) |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
770 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
771 def duplicateLastPosition(self): |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
772 self.positions[0].append(self.positions[0][-1]) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
773 self.positions[1].append(self.positions[1][-1]) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
774 |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
775 @staticmethod |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
776 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, objNum = None, **kwargs): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
777 if lastCoordinate is None: |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
778 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
779 elif 0 <= lastCoordinate <= len(positions[0]): |
270
05c9b0cb8202
updates for drawing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
268
diff
changeset
|
780 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
781 if withOrigin: |
211 | 782 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
783 if objNum is not None: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
784 text(positions[0][0], positions[1][0], '{}'.format(objNum)) |
933
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
785 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
786 def homographyProject(self, homography): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
787 return Trajectory(cvutils.homographyProject(array(self.positions), homography).tolist()) |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
788 |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
789 def newCameraProject(self, newCameraMatrix): |
8ac7f61c6e4f
major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
929
diff
changeset
|
790 return Trajectory(cvutils.newCameraProject(array(self.positions), newCameraMatrix).tolist()) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
791 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
792 def plot(self, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
793 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
794 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
795 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
796 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, objNum, **kwargs) |
203
e2f31813ade6
added code to display trajectories on videa
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
185
diff
changeset
|
797 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
798 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, objNum = None, **kwargs): |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
799 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
620
aee4cbac9e0e
corrected bug to plot trajectories on world image (the norm on image coordinates seems to have changed in matplotlib)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
595
diff
changeset
|
800 [x*nPixelsPerUnitDistance for x in self.positions[1]]] |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
801 Trajectory._plot(imgPositions, options, withOrigin, None, timeStep, objNum, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
802 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
803 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
804 return self.positions[0] |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
805 |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
806 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
807 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
|
808 |
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
809 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
|
810 return array(self.positions) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
811 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
812 def xBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
813 # 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
|
814 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
815 |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
816 def yBounds(self): |
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
817 # 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
|
818 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
819 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
820 def add(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
821 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
822 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
823 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
824 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
825 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
826 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
|
827 [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
|
828 |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
829 def subtract(self, traj2): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
830 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
831 if self.length() != traj2.length(): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
832 print('Trajectories of different lengths') |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
833 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
834 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
835 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
|
836 [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
|
837 |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
838 def __mul__(self, alpha): |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
839 '''Returns a new trajectory of the same length''' |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
840 return Trajectory([[alpha*x for x in self.getXCoordinates()], |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
841 [alpha*y for y in self.getYCoordinates()]]) |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
842 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
843 def differentiate(self, doubleLastPosition = False): |
339 | 844 diff = Trajectory() |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
845 for i in range(1, self.length()): |
339 | 846 diff.addPosition(self[i]-self[i-1]) |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
847 if doubleLastPosition: |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
848 diff.addPosition(diff[-1]) |
339 | 849 return diff |
850 | |
1196
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
851 def filterSG(self, window_length, polyorder, deriv=0, delta=1.0, axis=-1, mode='nearest', cval=0.0, nInstantsIgnoredAtEnds = 2): |
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
852 '''Filters the trajectory using the Savitsky Golay filter |
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
853 if deriv = 1, the method differentiates |
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
854 Warning: high order polynomials yield artefacts |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
855 |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
856 window_length : The length of the filter window (i.e. the number of coefficients). window_length must be a positive odd integer. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
857 polyorder : The order of the polynomial used to fit the samples. polyorder must be less than window_length. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
858 deriv : The order of the derivative to compute. This must be a nonnegative integer. The default is 0, which means to filter the data without differentiating. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
859 delta : The spacing of the samples to which the filter will be applied. This is only used if deriv > 0. Default is 1.0. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
860 axis : The axis of the array x along which the filter is to be applied. Default is -1. |
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
861 mode : Must be mirror, constant, nearest, wrap or interp. This determines the type of extension to use for the padded signal to which the filter is applied. When mode is constant, the padding value is given by cval. See the Notes for more details on mirror, constant, wrap, and nearest. When the interp mode is selected (the default), no extension is used. Instead, a degree polyorder polynomial is fit to the last window_length values of the edges, and this polynomial is used to evaluate the last window_length // 2 output values. |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
862 cval : Value to fill past the edges of the input if mode is constant. Default is 0.0. |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
863 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
864 https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.savgol_filter.html#scipy.signal.savgol_filter''' |
1193
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
865 filtered = savgol_filter(self.positions, window_length, polyorder, deriv, delta, axis, mode, cval) |
1196
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
866 length = self.length() |
1181 | 867 if nInstantsIgnoredAtEnds >=1: |
1196
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
868 if nInstantsIgnoredAtEnds >= length/2: |
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
869 n = int(round(length/2))-1 |
1195
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
870 else: |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
871 n = nInstantsIgnoredAtEnds |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
872 filtered = filtered[:,n:-n] |
1193
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
873 return Trajectory(filtered.tolist()) |
761
15ddc8715236
added savitzky golay for differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
727
diff
changeset
|
874 |
16 | 875 def norm(self): |
876 '''Returns the list of the norms at each instant''' | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
877 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
878 |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
879 def computeCumulativeDistances(self): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
880 '''Computes the distance from each point to the next and the cumulative distance up to the point |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
881 Can be accessed through getDistance(idx) and getCumulativeDistance(idx)''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
882 self.distances = [] |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
883 self.cumulativeDistances = [0.] |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
884 p1 = self[0] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
885 cumulativeDistance = 0. |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
886 for i in range(self.length()-1): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
887 p2 = self[i+1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
888 self.distances.append(Point.distanceNorm2(p1,p2)) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
889 cumulativeDistance += self.distances[-1] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
890 self.cumulativeDistances.append(cumulativeDistance) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
891 p1 = p2 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
892 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
893 def getDistance(self,i): |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
894 '''Return the distance between points i and i+1''' |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
895 if i < self.length()-1: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
896 return self.distances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
897 else: |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
898 print('Index {} beyond trajectory length {}-1'.format(i, self.length())) |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
899 |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
900 def getCumulativeDistance(self, i): |
1115
cef7aa2f9931
minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1114
diff
changeset
|
901 '''Returns the cumulative distance between the beginning and point i''' |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
902 if i < self.length(): |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
903 return self.cumulativeDistances[i] |
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
904 else: |
577
d0abd2ee17b9
changed arguments to type Point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
576
diff
changeset
|
905 print('Index {} beyond trajectory length {}'.format(i, self.length())) |
576
0eff0471f9cb
added functions to use trajectories as alignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
575
diff
changeset
|
906 |
1115
cef7aa2f9931
minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1114
diff
changeset
|
907 def getTotalDistance(self): |
cef7aa2f9931
minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1114
diff
changeset
|
908 '''Returns the total distance (shorthand for cumulative distance [-1]''' |
cef7aa2f9931
minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1114
diff
changeset
|
909 return self.getCumulativeDistance(-1) |
cef7aa2f9931
minor shorthand method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1114
diff
changeset
|
910 |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
911 def getMaxDistance(self, metric): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
912 'Returns the maximum distance between points in the trajectory' |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
913 positions = self.getPositions().asArray().T |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
914 return cdist(positions, positions, metric = metric).max() |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
915 |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
916 def getClosestPoint(self, p1, maxDist2 = None): |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
917 '''Returns the instant of the closest position in trajectory to p1 (and the point) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
918 if maxDist is not None, will check the distance is smaller |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
919 TODO: could use cdist for different metrics''' |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
920 distances2 = [] |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
921 minDist2 = float('inf') |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
922 i = -1 |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
923 for p2 in self: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
924 distances2.append(Point.distanceNorm2(p1, p2)) |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
925 if distances2[-1] < minDist2: |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
926 minDist2 = distances2[-1] |
939
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
927 i = len(distances2)-1 |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
928 if maxDist2 is not None and minDist2 < maxDist2: |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
929 return None |
a2f3f3ca241e
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
937
diff
changeset
|
930 else: |
937
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
931 return i |
b67a784beb69
work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
936
diff
changeset
|
932 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
933 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
934 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity) |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
935 have a cosine with refDirection is smaller than cosineThreshold''' |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
936 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
937 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
938 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
939 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
940 count += 1 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
941 return count >= lengthThreshold |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
942 |
49 | 943 def wiggliness(self): |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
944 straightDistance = Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
945 if straightDistance > 0: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
946 return self.getCumulativeDistance(self.length()-1)/float(straightDistance) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
947 else: |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
948 return None |
49 | 949 |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
950 def getIntersections(self, p1, p2, computeOrientations = False): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
951 '''Returns a list of the indices at which the trajectory |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
952 intersects with the segment of extremities p1 and p2 |
771 | 953 Returns an empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
954 indices = [] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
955 intersections = [] |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
956 rightToLeftOrientations = [] |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
957 |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
958 for i in range(self.length()-1): |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
959 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
960 q2=self.__getitem__(i+1) |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
961 p, ratio = segmentIntersection(p1, p2, q1, q2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
962 if p is not None: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
963 # if q1.x != q2.x: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
964 # ratio = (p.x-q1.x)/(q2.x-q1.x) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
965 # elif q1.y != q2.y: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
966 # ratio = (p.y-q1.y)/(q2.y-q1.y) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
967 # else: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
968 # ratio = 0 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
969 indices.append(i+ratio) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
970 intersections.append(p) |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
971 if computeOrientations: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
972 rightToLeftOrientations.append(segmentOrientationCrossing(p1, p2, q1, q2)) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
973 return indices, intersections, rightToLeftOrientations |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
974 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
975 def getLineIntersections(self, p1, p2): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
976 '''Returns a list of the indices at which the trajectory |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
977 intersects with the line going through p1 and p2 |
771 | 978 Returns an empty list if there is no crossing''' |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
979 indices = [] |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
980 intersections = [] |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
981 |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
982 for i in range(self.length()-1): |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
983 q1=self.__getitem__(i) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
984 q2=self.__getitem__(i+1) |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
985 p, ratio = segmentLineIntersection(q1, q2, p1, p2) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
986 if p is not None: |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
987 # if q1.x != q2.x: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
988 # ratio = (p.x-q1.x)/(q2.x-q1.x) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
989 # elif q1.y != q2.y: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
990 # ratio = (p.y-q1.y)/(q2.y-q1.y) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
991 # else: |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
992 # ratio = 0 |
630
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
993 indices.append(i+ratio) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
994 intersections.append(p) |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
995 return indices, intersections |
69a98f84f3eb
corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
996 |
1109
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
997 def subTrajectoryInInterval(self, inter): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
998 'Returns all position between index inter.first and index.last (included)' |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
999 if inter.first >=0 and inter.last<= self.length(): |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1000 return Trajectory([self.positions[0][inter.first:inter.last+1], |
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1001 self.positions[1][inter.first:inter.last+1]]) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1002 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1003 return None |
762
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1004 |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1005 def subSample(self, step): |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1006 'Returns the positions very step' |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1007 return Trajectory([self.positions[0][::step], |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1008 self.positions[1][::step]]) |
d6f0e0cab07d
added functionalities for Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
761
diff
changeset
|
1009 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
1010 if shapelyAvailable: |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1011 def getInstantsInPolygon(self, polygon): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1012 '''Returns the list of instants at which the trajectory is in the polygon''' |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1013 instants = [] |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1014 n = self.length() |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1015 for t, x, y in zip(range(n), self.positions[0], self.positions[1]): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1016 if polygon.contains(shapelyPoint(x, y)): |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1017 instants.append(t) |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1018 return instants |
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1019 |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1020 def getTrajectoryInPolygon(self, polygon, t2 = None): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1021 '''Returns the trajectory built with the set of points inside the (shapely) polygon |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1022 The polygon could be a prepared polygon (faster) from prepared.prep |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1023 |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1024 t2 is another trajectory (could be velocities) |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1025 which is filtered based on the first (self) trajectory''' |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
1026 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1027 inPolygon = [] |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1028 for x, y in zip(self.positions[0], self.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1029 inPolygon.append(polygon.contains(shapelyPoint(x, y))) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1030 if inPolygon[-1]: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1031 traj.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1032 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1033 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1034 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1035 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1036 traj2.addPositionXY(x, y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1037 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1038 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1039 def proportionInPolygon(self, polygon, minProportion = 0.5): |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1040 instants = self.getInstantsInPolygon(polygon) |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1041 lengthThreshold = float(self.length())*minProportion |
863
a8ca72dc1564
work on user detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
851
diff
changeset
|
1042 return len(instants) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1043 else: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1044 def getTrajectoryInPolygon(self, polygon, t2 = None): |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1045 '''Returns the trajectory built with the set of points inside the polygon |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1046 (array of Nx2 coordinates of the polygon vertices)''' |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1047 traj = Trajectory() |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1048 inPolygon = [] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1049 for p in self: |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1050 inPolygon.append(p.inPolygon(polygon)) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1051 if inPolygon[-1]: |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1052 traj.addPosition(p) |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1053 traj2 = Trajectory() |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1054 if t2 is not None: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1055 for inp, x, y in zip(inPolygon, t2.positions[0], t2.positions[1]): |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1056 if inp: |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1057 traj2.addPositionXY(p.x, p.y) |
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1058 return traj, traj2 |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1059 |
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1060 def proportionInPolygon(self, polygon, minProportion = 0.5): |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1061 inPolygon = [p.inPolygon(polygon) for p in self] |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1062 lengthThreshold = float(self.length())*minProportion |
781
7c38250ddfc7
updated to deal with prepared polygons from shapely, and to extract the same positions from a second trajectory in a polygon (for velocities for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
780
diff
changeset
|
1063 return sum(inPolygon) >= lengthThreshold |
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
626
diff
changeset
|
1064 |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1065 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1066 def lcss(t1, t2, lcss): |
027e254f0b53
lcss subclass for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
368
diff
changeset
|
1067 return lcss.compute(t1, t2) |
284
f2cf16ad798f
added LCSS for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
280
diff
changeset
|
1068 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1069 class CurvilinearTrajectory(Trajectory): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1070 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1071 longitudinal coordinate is stored as first coordinate (exterior name S) |
1085
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1072 lateral coordinate is stored as second coordinate |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1073 the third "lane" coordinate is for an alignment id, |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1074 whether explicit for a list/dict of alignments, |
1085
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1075 or implicit for a road with lane numbers''' |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1076 |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1077 def __init__(self, S = None, Y = None, lanes = None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1078 if S is None or Y is None or len(S) != len(Y): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1079 self.positions = [[],[]] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1080 if S is not None and Y is not None and len(S) != len(Y): |
543
cb213269d330
defensive code for curvilinear trajectory initialization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
1081 print("S and Y coordinates of different lengths\nInitializing to empty lists") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1082 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1083 self.positions = [S,Y] |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1084 if lanes is None or len(lanes) != self.length(): |
1085
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1085 self.lanes = [None]*int(self.length()) |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1086 else: |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1087 self.lanes = lanes |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1088 |
1085
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1089 @staticmethod |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1090 def generate(s, v, nPoints, lane, y = 0): |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1091 '''s is initial position, v is velocity |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1092 0 in lateral coordinate by default |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1093 TODO 2D velocity for lane change?''' |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1094 S = [s] |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1095 for i in range(nPoints-1): |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1096 S.append(S[-1]+v) |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1097 Y = [y]*nPoints |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1098 lanes = [lane]*nPoints |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1099 return CurvilinearTrajectory(S, Y, lanes) |
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1100 |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1101 @staticmethod |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1102 def fromTrajectoryProjection(t, alignments, halfWidth = 3): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1103 ''' Add, for every object position, the class 'moving.CurvilinearTrajectory()' |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1104 (curvilinearPositions instance) which holds information about the |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1105 curvilinear coordinates using alignment metadata. |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1106 From Paul St-Aubin's PVA tools |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1107 ====== |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1108 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1109 Input: |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1110 ====== |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1111 alignments = a list of alignments, where each alignment is a list of |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1112 points (class Point). |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1113 halfWidth = moving average window (in points) in which to smooth |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1114 lane changes. As per tools_math.cat_mvgavg(), this term |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1115 is a search *radius* around the center of the window. |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1116 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1117 ''' |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1118 curvilinearPositions = CurvilinearTrajectory() |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1119 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1120 #For each point |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1121 for i in range(int(t.length())): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1122 result = getSYfromXY(t[i], alignments) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1123 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1124 # Error handling |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1125 if(result is None): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1126 print('Warning: trajectory at point {} {} has alignment errors (alignment snapping)\nCurvilinear trajectory could not be computed'.format(i, t[i])) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1127 else: |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1128 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1129 curvilinearPositions.addPositionSYL(S, Y, align) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1130 |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1131 ## Go back through points and correct lane |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1132 #Run through objects looking for outlier point |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1133 smoothed_lanes = utils.filterCategoricalMovingWindow(curvilinearPositions.getLanes(), halfWidth) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1134 ## Recalculate projected point to new lane |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1135 lanes = curvilinearPositions.getLanes() |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1136 if(lanes != smoothed_lanes): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1137 for i in range(len(lanes)): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1138 if(lanes[i] != smoothed_lanes[i]): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1139 result = getSYfromXY(t[i],[alignments[smoothed_lanes[i]]]) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1140 |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1141 # Error handling |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1142 if(result is None): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1143 ## This can be triggered by tracking errors when the trajectory jumps around passed another alignment. |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1144 print(' Warning: trajectory at point {} {} has alignment errors during trajectory smoothing and will not be corrected.'.format(i, t[i])) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1145 else: |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1146 [align, alignPoint, snappedPoint, subsegmentDistance, S, Y] = result |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1147 curvilinearPositions.setPosition(i, S, Y, align) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1148 return curvilinearPositions |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1149 |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1150 def __getitem__(self,i): |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1151 if isinstance(i, int): |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1152 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1153 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
1154 raise TypeError("Invalid argument type.") |
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
1155 #elif isinstance( key, slice ): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1156 |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1157 def getSCoordinates(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1158 return self.getXCoordinates() |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1159 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1160 def getLanes(self): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1161 return self.lanes |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1162 |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1163 def getSCoordAt(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1164 return self.positions[0][i] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1165 |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1166 def getYCoordAt(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1167 return self.positions[1][i] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1168 |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1169 def getLaneAt(self, i): |
1098
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1170 return self.lanes[i] |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1171 |
1109
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1172 def subTrajectoryInInterval(self, inter): |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1173 'Returns all curvilinear positions between index inter.first and index.last (included)' |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1174 if inter.first >=0 and inter.last<= self.length(): |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1175 return CurvilinearTrajectory(self.positions[0][inter.first:inter.last+1], |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1176 self.positions[1][inter.first:inter.last+1], |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1177 self.lanes[inter.first:inter.last+1]) |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1178 else: |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1179 return None |
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1180 |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1181 def append(self, other): |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1182 Trajectory.append(self, other) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1183 self.lanes.append(other.getLanes()) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1184 |
1085
7853106677b7
added generate static function for CurvilinearTrajectory and modified how to create them with None list in lanes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1081
diff
changeset
|
1185 def addPositionSYL(self, s, y, lane = None): |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1186 self.addPositionXY(s,y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1187 self.lanes.append(lane) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1188 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1189 def addPosition(self, p): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1190 'Adds position in the point format for curvilinear of list with 3 values' |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1191 self.addPositionSYL(p[0], p[1], p[2]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1192 |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1193 def duplicateLastPosition(self): |
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1194 super(CurvilinearTrajectory, self).duplicateLastPosition() |
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1195 self.lanes.append(self.lanes[-1]) |
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1196 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1197 def setPosition(self, i, s, y, lane): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1198 self.setPositionXY(i, s, y) |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1199 if i < self.__len__(): |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1200 self.lanes[i] = lane |
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
318
diff
changeset
|
1201 |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1202 def differentiate(self, doubleLastPosition = False): |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1203 diff = CurvilinearTrajectory() |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1204 p1 = self[0] |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1205 for i in range(1, self.length()): |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1206 p2 = self[i] |
1098
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1207 if p2[2] == p1[2]: |
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1208 laneChange = None |
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1209 else: |
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1210 laneChange = (p1[2], p2[2]) |
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1211 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], laneChange) |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1212 p1=p2 |
582
7e1ae4d97f1a
corrected bug for curvilinear trajectory with only one position and differentiation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
581
diff
changeset
|
1213 if doubleLastPosition and self.length() > 1: |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1214 diff.addPosition(diff[-1]) |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1215 return diff |
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
531
diff
changeset
|
1216 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1217 def getIntersections(self, S1, lane = None): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1218 '''Returns a list of the indices at which the trajectory |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1219 goes past the curvilinear coordinate S1 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1220 (in provided lane if lane is not None) |
771 | 1221 Returns an empty list if there is no crossing''' |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1222 indices = [] |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1223 for i in range(self.length()-1): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1224 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1225 q2=self.__getitem__(i+1) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1226 if q1[0] <= S1 < q2[0] and (lane is None or (self.lanes[i] == lane and self.lanes[i+1] == lane)): |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1227 indices.append(i+(S1-q1[0])/(q2[0]-q1[0])) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1228 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
411
diff
changeset
|
1229 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1230 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1231 # Moving Objects |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1232 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1233 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1234 userTypeNames = ['unknown', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1235 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1236 'pedestrian', |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1237 'motorcycle', |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1238 'bicycle', |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1239 'bus', |
1125
b358bed29ab4
updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1117
diff
changeset
|
1240 'truck', |
b358bed29ab4
updates and bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1117
diff
changeset
|
1241 'automated'] |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
1242 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1243 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
1244 |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1245 class CarClassifier: |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1246 def predict(self, hog): |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1247 return userType2Num['car'] |
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1248 carClassifier = CarClassifier() |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1249 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
663
diff
changeset
|
1250 class MovingObject(STObject, VideoFilenameAddable): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1251 '''Class for moving objects: a spatio-temporal object |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1252 with a trajectory and a geometry (constant volume over time) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1253 and a usertype (e.g. road user) coded as a number (see userTypeNames) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1254 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1255 |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1256 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None, initCurvilinear = False): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
1257 super(MovingObject, self).__init__(num, timeInterval) |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1258 if initCurvilinear: |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1259 self.curvilinearPositions = positions |
1098
469e36eea158
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1097
diff
changeset
|
1260 self.curvilinearVelocities = velocities # third component is (previousAlignmentIdx, newAlignmentIdx) or None if no change |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1261 else: |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1262 self.positions = positions |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1263 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1264 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1265 self.userType = userType |
1041
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1266 self.setNObjects(nObjects) # a feature has None for nObjects |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1267 self.features = None |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
1268 # compute bounding polygon from trajectory |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1269 |
1075 | 1270 @staticmethod |
1079
845d694af7b8
reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1077
diff
changeset
|
1271 def croppedTimeInterval(obj, value, after = True): |
1075 | 1272 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant()) |
1273 if obj.positions is not None : | |
1136
30171d4fd3df
moving.py [Issue #22 from Etienne Beauchamp In annotationTool Correction]
Tertuis Ouédraogo <tertuis95@gmail.com>
parents:
1135
diff
changeset
|
1274 newPositions = obj.positions[slice(newTimeInterval.first - obj.getLastInstant(), newTimeInterval.last + 1 - obj.getLastInstant())] |
1075 | 1275 else: |
1276 newPositions = None | |
1277 if obj.velocities is not None : | |
1136
30171d4fd3df
moving.py [Issue #22 from Etienne Beauchamp In annotationTool Correction]
Tertuis Ouédraogo <tertuis95@gmail.com>
parents:
1135
diff
changeset
|
1278 newVelocities = obj.velocities[slice(newTimeInterval.first - obj.getLastInstant(), newTimeInterval.last + 1 - obj.getLastInstant())] |
1075 | 1279 else: |
1280 newVelocities = None | |
1079
845d694af7b8
reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1077
diff
changeset
|
1281 if obj.hasFeatures(): |
845d694af7b8
reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1077
diff
changeset
|
1282 newFeatures = [f.croppedTimeInterval(value, after) for f in obj.features] |
1075 | 1283 else: |
1284 newFeatures = None | |
1285 res = MovingObject(obj.getNum(), newTimeInterval, newPositions, newVelocities, obj.geometry, obj.userType, obj.nObjects) | |
1286 res.features = newFeatures | |
1287 res.featureNumbers = obj.featureNumbers | |
1079
845d694af7b8
reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1077
diff
changeset
|
1288 #if hasattr(obj, 'projectedPositions'): |
845d694af7b8
reversed minor bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1077
diff
changeset
|
1289 # res.projectedPositions = obj.projectedPositions[slice(newTimeInterval.first, newTimeInterval.last+1)] |
1075 | 1290 return res |
1291 | |
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
1292 |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1293 @staticmethod |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1294 def aggregateTrajectories(features, interval = None, aggFunc = mean): |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1295 'Computes the aggregate trajectory from list of MovingObject features' |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1296 positions = Trajectory() |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1297 velocities = Trajectory() |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1298 if interval is None: |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1299 inter = TimeInterval.unionIntervals([f.getTimeInterval() for f in features]) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1300 else: |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1301 inter = interval |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1302 for t in inter: |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1303 points = [] |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1304 vels = [] |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1305 for f in features: |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1306 if f.existsAtInstant(t): |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1307 points.append(f.getPositionAtInstant(t)) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1308 vels.append(f.getVelocityAtInstant(t)) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1309 positions.addPosition(Point.agg(points, aggFunc)) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1310 velocities.addPosition(Point.agg(vels, aggFunc)) |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1311 return inter, positions, velocities |
995
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1312 |
349cd5e73f79
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
994
diff
changeset
|
1313 @staticmethod |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
904
diff
changeset
|
1314 def generate(num, p, v, timeInterval): |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1315 nPoints = int(timeInterval.length()) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1316 positions = Trajectory.generate(p, v, nPoints) |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1317 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints])) |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1318 |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1319 def updatePositions(self): |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1320 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval()) |
555
f13220f765e0
added static methods to create trajectories and moving objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
1321 |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1322 @staticmethod |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1323 def concatenate(obj1, obj2, num = None, newFeatureNum = None): |
1018
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1324 '''Concatenates two objects, whether overlapping temporally or not |
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1325 |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1326 Positions will be recomputed if features are merged |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1327 Otherwise, only featureNumbers and/or features will be merged''' |
997
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1328 if num is None: |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1329 newNum = obj1.getNum() |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1330 else: |
4f3387a242a1
updated utils to python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
996
diff
changeset
|
1331 newNum = num |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1332 commonTimeInterval = obj1.commonTimeInterval(obj2) |
1180
dc28364f34b9
minor cleanup
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1179
diff
changeset
|
1333 if commonTimeInterval.empty(): # and emptyInterval.length() >= 2: not needed 2 to include situations successive positions, but issues with missing last velocity and reloading |
dc28364f34b9
minor cleanup
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1179
diff
changeset
|
1334 emptyInterval = TimeInterval(min(obj1.getLastInstant(),obj2.getLastInstant()), max(obj1.getFirstInstant(),obj2.getFirstInstant())) |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1335 if newFeatureNum is None: |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1336 print('Not merging objects {} and {}, missing new feature number'.format(obj1.getNum(),obj2.getNum())) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1337 return None, None |
1018
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1338 else: |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1339 if obj1.existsAtInstant(emptyInterval.last): |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1340 firstObject = obj2 |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1341 secondObject = obj1 |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1342 else: |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1343 firstObject = obj1 |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1344 secondObject = obj2 |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1345 v = (secondObject.getPositionAtInstant(emptyInterval.last)-firstObject.getPositionAtInstant(emptyInterval.first)).divide(emptyInterval.length()-1) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1346 positions = copy.deepcopy(firstObject.getPositions()) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1347 velocities = copy.deepcopy(firstObject.getPositions()) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1348 featurePositions = Trajectory() |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1349 featureVelocities = Trajectory() |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1350 p = firstObject.getPositionAtInstant(emptyInterval.first) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1351 # init new feature with position at last instant of 1st obj |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1352 featurePositions.addPosition(p) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1353 featureVelocities.addPosition(v) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1354 for t in range(emptyInterval.first+1, emptyInterval.last): |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1355 p=p+v |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1356 positions.addPosition(p) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1357 velocities.addPosition(v) |
1134
4b2a55d570c1
resolve issue for short features when merging objects manually
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1133
diff
changeset
|
1358 featurePositions.addPosition(p) |
4b2a55d570c1
resolve issue for short features when merging objects manually
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1133
diff
changeset
|
1359 featureVelocities.addPosition(v) |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1360 # last position to feature |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1361 p = secondObject.getPositionAtInstant(emptyInterval.last) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1362 v = secondObject.getVelocityAtInstant(emptyInterval.last) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1363 featurePositions.addPosition(p) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1364 featureVelocities.addPosition(v) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1365 # copy second trajectory |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1366 positions.append(secondObject.getPositions()) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1367 velocities.append(secondObject.getVelocities()) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1368 newObject = MovingObject(newNum, TimeInterval(firstObject.getFirstInstant(), secondObject.getLastInstant()), positions, velocities, nObjects = 1) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1369 newFeature = MovingObject(newFeatureNum, emptyInterval, featurePositions, featureVelocities) |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1370 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'): |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1371 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers+[newFeatureNum] |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1372 if obj1.hasFeatures() and obj2.hasFeatures(): |
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1373 newObject.features = obj1.getFeatures()+obj2.getFeatures()+[newFeature] |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1374 else: # time intervals overlap |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1375 newTimeInterval = TimeInterval.union(obj1.getTimeInterval(), obj2.getTimeInterval()) |
1041
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1376 newObject = MovingObject(newNum, newTimeInterval, nObjects = 1) # hypothesis is that it's the same object being reunited |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1377 newFeature = None |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1378 if hasattr(obj1, 'featureNumbers') and hasattr(obj2, 'featureNumbers'): |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1379 newObject.featureNumbers = obj1.featureNumbers+obj2.featureNumbers |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1380 if obj1.hasFeatures() and obj2.hasFeatures(): |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1381 newObject.features = obj1.getFeatures()+obj2.getFeatures() |
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1382 newObject.updatePositions() |
623
ce7133cbcdf3
implemented function to concatenate objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
622
diff
changeset
|
1383 else: |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1384 print('Cannot update object positions without features') |
1018
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1385 # user type |
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1386 if obj1.getUserType() != obj2.getUserType(): |
d7afc59f6966
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1016
diff
changeset
|
1387 print('The two moving objects have different user types: obj1 {} obj2 {}'.format(userTypeNames[obj1.getUserType()], userTypeNames[obj2.getUserType()])) |
1019
5d2f6afae35b
work on object concatenation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1018
diff
changeset
|
1388 newObject.setUserType(obj1.getUserType()) |
1177
aa88acf06876
rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1170
diff
changeset
|
1389 return newObject, newFeature |
622
dc8490726d06
corrected issues created with homography projection in Trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
621
diff
changeset
|
1390 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1391 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1392 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
1393 restricted to time interval inter''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
1394 intersection = TimeInterval.intersection(inter, self.getTimeInterval()) |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1395 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
1396 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
1146
b219d5a1bb55
added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1136
diff
changeset
|
1397 obj = MovingObject(self.num, intersection, self.positions.subTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType, self.nObjects) |
982
51d8406b2489
corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
978
diff
changeset
|
1398 if self.velocities is not None: |
1146
b219d5a1bb55
added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1136
diff
changeset
|
1399 obj.velocities = self.velocities.subTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1400 return obj |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1401 else: |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
1402 print('The object does not exist at {}'.format(inter)) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1403 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
1404 |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1405 def getObjectsInMask(self, mask, homography = None, minLength = 1): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1406 '''Returns new objects made of the positions in the mask |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1407 mask is in the destination of the homography space''' |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1408 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
changeset
|
1409 self.projectedPositions = self.positions.homographyProject(homography) |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1410 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1411 self.projectedPositions = self.positions |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1412 def inMask(positions, i, mask): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1413 p = positions[i] |
982
51d8406b2489
corrected bug when not using a homography and using a mask for CLEAR MOT metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
978
diff
changeset
|
1414 return mask[int(p.y), int(p.x)] != 0. |
726
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1415 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1416 #subTimeIntervals self.getFirstInstant()+i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1417 filteredIndices = [inMask(self.projectedPositions, i, mask) for i in range(int(self.length()))] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1418 # 'connected components' in subTimeIntervals |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1419 l = 0 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1420 intervalLabels = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1421 prev = True |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1422 for i in filteredIndices: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1423 if i: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1424 if not prev: # new interval |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1425 l += 1 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1426 intervalLabels.append(l) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1427 else: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1428 intervalLabels.append(-1) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1429 prev = i |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1430 intervalLabels = array(intervalLabels) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1431 subObjects = [] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1432 for l in set(intervalLabels): |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1433 if l >= 0: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1434 if sum(intervalLabels == l) >= minLength: |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1435 times = [self.getFirstInstant()+i for i in range(len(intervalLabels)) if intervalLabels[i] == l] |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1436 subTimeInterval = TimeInterval(min(times), max(times)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1437 subObjects.append(self.getObjectInTimeInterval(subTimeInterval)) |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1438 |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1439 return subObjects |
43ae3a1af290
added functionality to display matchings between ground truth and tracked objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
723
diff
changeset
|
1440 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1441 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1442 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1443 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1444 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1445 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1446 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1447 def getUserType(self): |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1448 return self.userType |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1449 |
943
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1450 def computeCumulativeDistances(self): |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1451 self.positions.computeCumulativeDistances() |
b1e8453c207c
work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
939
diff
changeset
|
1452 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1453 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1454 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1455 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1456 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1457 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
1458 |
1123
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1459 def getCurvilinearVelocities(self): |
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1460 if hasattr(self, 'curvilinearVelocities'): |
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1461 return self.curvilinearVelocities |
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1462 else: |
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1463 return None |
0548a78852b8
added accessor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1122
diff
changeset
|
1464 |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1465 def plotCurvilinearPositions(self, lane = None, options = '', withOrigin = False, **kwargs): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1466 if hasattr(self, 'curvilinearPositions'): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1467 if lane is None: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1468 plot(list(self.getTimeInterval()), self.curvilinearPositions.positions[0], options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1469 if withOrigin: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1470 plot([self.getFirstInstant()], [self.curvilinearPositions.positions[0][0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1471 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1472 instants = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1473 coords = [] |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1474 for t, p in zip(self.getTimeInterval(), self.curvilinearPositions): |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1475 if p[2] == lane: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1476 instants.append(t) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1477 coords.append(p[0]) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1478 else: |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1479 instants.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1480 coords.append(NaN) |
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1481 plot(instants, coords, options, **kwargs) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1482 if withOrigin and len(instants)>0: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
659
diff
changeset
|
1483 plot([instants[0]], [coords[0]], 'ro', **kwargs) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1484 else: |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1485 print('Object {} has no curvilinear positions'.format(self.getNum())) |
643
bfaa6b95dae2
added function to plot curvilinear position as a function of time
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
1486 |
1116
a3982d591a61
placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1115
diff
changeset
|
1487 def interpolateCurvilinearPositions(self, t, alignments = None): |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1488 '''Linear interpolation of curvilinear positions, t being a float''' |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1489 if hasattr(self, 'curvilinearPositions'): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1490 if self.existsAtInstant(t): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1491 i = int(floor(t)) |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1492 p1 = self.getCurvilinearPositionAtInstant(i) |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1493 p2 = self.getCurvilinearPositionAtInstant(i+1) |
1114
7135b5eaa6b4
correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1112
diff
changeset
|
1494 if p1[2] == p2[2]: |
7135b5eaa6b4
correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1112
diff
changeset
|
1495 alpha = t-float(i) |
7135b5eaa6b4
correcting poor requirement for interpolateCurvilinearPositions (when changing alignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1112
diff
changeset
|
1496 return [(1-alpha)*p1[0]+alpha*p2[0], (1-alpha)*p1[1]+alpha*p2[1], p1[2]] |
1117 | 1497 elif alignments is not None: # can be done only if assuming there is no missing alignmentn where the object has no coordinate |
1116
a3982d591a61
placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1115
diff
changeset
|
1498 pass # TODO |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1499 else: |
1116
a3982d591a61
placeholder implementation for interpolateCurvilinearPositions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1115
diff
changeset
|
1500 print('Object {} changes lane at {} and alignments are not provided'.format(self.getNum(), t)) |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1501 else: |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1502 print('Object {} does not exist at {}'.format(self.getNum(), t)) |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1503 else: |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1504 print('Object {} has no curvilinear positions'.format(self.getNum())) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1505 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1506 def setUserType(self, userType): |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1507 self.userType = userType |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
1508 |
1041
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1509 def getNObjects(self): |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1510 return self.nObjects |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1511 |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1512 def setNObjects(self, nObjects): |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1513 if nObjects is None or nObjects >= 1: |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1514 self.nObjects = nObjects |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1515 else: |
fc7c0f38e8a6
added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1037
diff
changeset
|
1516 print('Number of objects represented by object {} must be greater or equal to 1 ({})'.format(self.getNum(), nObjects)) |
1075 | 1517 self.nObjects = None |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1518 |
880
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1519 def setFeatures(self, features, featuresOrdered = False): |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1520 '''Sets the features in the features field based on featureNumbers |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1521 if not all features are loaded from 0, one needs to renumber in a dict''' |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1522 if featuresOrdered: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1523 tmp = features |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1524 else: |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1525 tmp = {f.getNum():f for f in features} |
000555430b28
adapted code from Paul St-Aubin and udpated MovingObject.setFeatures to truly find the right features in a list that may not start at 0
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
877
diff
changeset
|
1526 self.features = [tmp[i] for i in self.featureNumbers] |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
1527 |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1528 def getFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1529 return self.features |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1530 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1531 def hasFeatures(self): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1532 return (self.features is not None) |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1533 |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1534 def getFeature(self, i): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1535 if self.hasFeatures() and i<len(self.features): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1536 return self.features[i] |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1537 else: |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1538 return None |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1539 |
869
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1540 def getNLongestFeatures(self, nFeatures = 1): |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1541 if self.features is None: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1542 return [] |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1543 else: |
eb2f8ce2b39d
added method for longest feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
863
diff
changeset
|
1544 tmp = utils.sortByLength(self.getFeatures(), reverse = True) |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1545 return tmp[:min(len(tmp), nFeatures)] |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1546 |
1044
75a6ad604cc5
work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1041
diff
changeset
|
1547 def getFeatureNumbersOverTime(self): |
666
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1548 '''Returns the number of features at each instant |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1549 dict instant -> number of features''' |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1550 if self.hasFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1551 featureNumbers = {} |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1552 for t in self.getTimeInterval(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1553 n = 0 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1554 for f in self.getFeatures(): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1555 if f.existsAtInstant(t): |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1556 n += 1 |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1557 featureNumbers[t]=n |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1558 return featureNumbers |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1559 else: |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1560 print('Object {} has no features loaded.'.format(self.getNum())) |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1561 return None |
93633ce122c3
added function to count features in objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
1562 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1563 def getSpeeds(self, nInstantsIgnoredAtEnds = 0): |
1197
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1564 '''Returns the scalar speed''' |
682 | 1565 speeds = self.getVelocities().norm() |
1566 if nInstantsIgnoredAtEnds > 0: | |
1567 n = min(nInstantsIgnoredAtEnds, int(floor(self.length()/2.))) | |
1568 return speeds[n:-n] | |
1569 else: | |
1570 return speeds | |
49 | 1571 |
1197
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1572 def getAccelerations(self, fromSpeeds = True, nInstantsIgnoredAtEnds = 0): |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1573 '''Returns the scalar acceleration by differentiating the speeds (fromSpeeds = True) or by differentiating the velocity (vector) and taking the norm (frompSpeeds = False. In the second case, speed is always positive''' |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1574 if fromSpeeds: |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1575 speeds = array(self.getSpeeds()) |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1576 accelerations = speeds[1:]-speeds[:-1] |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1577 else: |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1578 accelerations = self.getVelocities().differentiate().norm() |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1579 if nInstantsIgnoredAtEnds > 0: |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1580 n = min(nInstantsIgnoredAtEnds, int(floor(len(accelerations)/2.))) |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1581 return accelerations[n:-n] |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1582 else: |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1583 return accelerations |
0475b4cd0cfb
adding simple direct acceleration calculation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1196
diff
changeset
|
1584 |
1196
d5566af60a69
correcting bug with savgol filter, renaming the functions to proper names filterSG and getAccelerationsSG
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1195
diff
changeset
|
1585 def getAccelerationsSG(self, window_length, polyorder, delta=1.0, axis=-1, mode='nearest', cval=0.0, nInstantsIgnoredAtEnds = 0): |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1586 '''Returns the 1-D acceleration from the 1-D speeds |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1587 Caution about previously filtered data''' |
1193
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
1588 speeds = self.getSpeeds() |
1195
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1589 wlength = min(window_length, len(speeds)) |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1590 if wlength % 2 == 0: |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1591 wlength -=1 |
1193
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
1592 filtered = savgol_filter(speeds, wlength, min(wlength-1, polyorder), 1, delta, axis, mode, cval) |
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
1593 if nInstantsIgnoredAtEnds >= 1: |
1195
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1594 if nInstantsIgnoredAtEnds >= len(speeds)/2: |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1595 n = int(round(len(speeds)/2))-1 |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1596 else: |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1597 n = nInstantsIgnoredAtEnds |
27a6a7f9b972
adjusting savgol use
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1193
diff
changeset
|
1598 return filtered[n:-n] |
1193
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
1599 else: |
d324305c1240
solving issues with extreme values when filtering using savitsky golay
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1190
diff
changeset
|
1600 return filtered |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1601 |
633
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1602 def getSpeedIndicator(self): |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1603 from indicators import SeverityIndicator |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1604 return SeverityIndicator('Speed', {t:self.getVelocityAtInstant(t).norm2() for t in self.getTimeInterval()}) |
f410c8fb07b7
minor function to export speed as temporal indicator for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
1605 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1606 def getPositionAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1607 return self.positions[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1608 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1609 def getVelocityAt(self, i): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1610 return self.velocities[i] |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
1611 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1612 def getPositionAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1613 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
|
1614 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1615 def getVelocityAtInstant(self, i): |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1616 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
|
1617 |
1097
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1618 def getCurvilinearPositionAt(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1619 return self.curvilinearPositions[i] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1620 |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1621 def getCurvilinearVelocityAt(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1622 return self.curvilinearVelocities[i] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1623 |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1624 def getCurvilinearPositionAtInstant(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1625 return self.curvilinearPositions[i-self.getFirstInstant()] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1626 |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1627 def getCurvilinearVelocityAtInstant(self, i): |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1628 return self.curvilinearVelocities[i-self.getFirstInstant()] |
b3f8b26ee838
modification for simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1096
diff
changeset
|
1629 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1630 def getXCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1631 return self.positions.getXCoordinates() |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1632 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1633 def getYCoordinates(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
1634 return self.positions.getYCoordinates() |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1635 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1636 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1637 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1638 objNum = self.getNum() |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1639 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1640 objNum = None |
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1641 if withFeatures and self.hasFeatures(): |
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1642 for f in self.getFeatures(): |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1643 f.positions.plot('r', True, timeStep, **kwargs) |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1644 self.positions.plot('bx-', True, timeStep, objNum, **kwargs) |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
1645 else: |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1646 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs) |
182
d3f6de6c3918
added drawing functialities, in particular on aerial image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
152
diff
changeset
|
1647 |
851
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1648 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs): |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1649 if withIds: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1650 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, self.getNum(), **kwargs) |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1651 else: |
07fb949ff98f
added display of object id
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
845
diff
changeset
|
1652 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, None, **kwargs) |
22 | 1653 |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1654 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.): |
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1655 cvutils.displayTrajectories(videoFilename, [self], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication) |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
1656 |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1657 def speedDiagnostics(self, framerate = 1., display = False, nInstantsIgnoredAtEnds=0): |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1658 speeds = framerate*self.getSpeeds(nInstantsIgnoredAtEnds) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1659 coef = utils.linearRegression(list(range(len(speeds))), speeds) |
379 | 1660 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 | 1661 if display: |
672
5473b7460375
moved and rationalized imports in modules
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
666
diff
changeset
|
1662 from matplotlib.pyplot import figure, axis |
377 | 1663 figure(1) |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
1664 self.plot() |
379 | 1665 axis('equal') |
377 | 1666 figure(2) |
1667 plot(list(self.getTimeInterval()), speeds) | |
877
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1668 figure(3) |
d1ff6917d082
added savitzky golay filter for accelerations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
869
diff
changeset
|
1669 plot(list(self.getTimeInterval()), self.getAccelerations(9, 3, speeds = speeds)) # arbitrary parameter |
377 | 1670 |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1671 @staticmethod |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1672 def minMaxDistance(obj1, obj2): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1673 '''Computes the min max distance used for feature grouping''' |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1674 commonTimeInterval = obj1.commonTimeInterval(obj2) |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1675 if not commonTimeInterval.empty(): |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1676 minDistance = (obj1.getPositionAtInstant(commonTimeInterval.first)-obj2.getPositionAtInstant(commonTimeInterval.first)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1677 maxDistance = minDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1678 for t in list(commonTimeInterval)[1:]: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1679 d = (obj1.getPositionAtInstant(t)-obj2.getPositionAtInstant(t)).norm2() |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1680 if d<minDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1681 minDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1682 elif d>maxDistance: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1683 maxDistance = d |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1684 return int(commonTimeInterval.length()), minDistance, maxDistance |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1685 else: |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1686 return int(commonTimeInterval.length()), None, None |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1687 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1688 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1689 def distances(obj1, obj2, instant1, _instant2 = None): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1690 '''Returns the distances between all features of the 2 objects |
653
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1691 at the same instant instant1 |
107f1ad02b69
compilation with C++11 and test function for movingobject distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1692 or at instant1 and instant2''' |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1693 if _instant2 is None: |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1694 instant2 = instant1 |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1695 else: |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1696 instant2 = _instant2 |
546 | 1697 positions1 = [f.getPositionAtInstant(instant1).astuple() for f in obj1.features if f.existsAtInstant(instant1)] |
1698 positions2 = [f.getPositionAtInstant(instant2).astuple() for f in obj2.features if f.existsAtInstant(instant2)] | |
1699 return cdist(positions1, positions2, metric = 'euclidean') | |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1700 |
546 | 1701 @staticmethod |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1702 def minDistance(obj1, obj2, instant1, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1703 return MovingObject.distances(obj1, obj2, instant1, instant2).min() |
546 | 1704 |
1705 @staticmethod | |
551
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1706 def maxDistance(obj1, obj2, instant, instant2 = None): |
dc3739ac2371
rearranged all distance computations between points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
550
diff
changeset
|
1707 return MovingObject.distances(obj1, obj2, instant1, instant2).max() |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1708 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1709 def maxSize(self): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1710 '''Returns the max distance between features |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1711 at instant there are the most features''' |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1712 if hasattr(self, 'features'): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1713 nFeatures = -1 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1714 tMaxFeatures = 0 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1715 for t in self.getTimeInterval(): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1716 n = len([f for f in self.features if f.existsAtInstant(t)]) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1717 if n > nFeatures: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1718 nFeatures = n |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1719 tMaxFeatures = t |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1720 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1721 else: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1722 print('Load features to compute a maximum size') |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1723 return None |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1724 |
550 | 1725 def setRoutes(self, startRouteID, endRouteID): |
1726 self.startRouteID = startRouteID | |
1727 self.endRouteID = endRouteID | |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1728 |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
1729 def getInstantsCrossingLine(self, p1, p2, computeOrientations = False): |
55
88d5ee5ac164
updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
54
diff
changeset
|
1730 '''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
|
1731 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
|
1732 empty list if there is no crossing''' |
1170
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
1733 indices, intersections, rightToLeftOrientations = self.positions.getIntersections(p1, p2, computeOrientations) |
b55adb13f262
added functions on line crossing orientation and important reorganization and cleaning of related code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1146
diff
changeset
|
1734 return [t+self.getFirstInstant() for t in indices], intersections, rightToLeftOrientations |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
1735 |
949
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1736 def computeTrajectorySimilarities(self, prototypes, lcss): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1737 'Computes the similarities to the prototypes using the LCSS' |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1738 if not hasattr(self, 'prototypeSimilarities'): |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1739 self.prototypeSimilarities = [] |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1740 for proto in prototypes: |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1741 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T) |
d6c1c05d11f5
modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
945
diff
changeset
|
1742 similarities = lcss.similarityTable[-1, :-1].astype(float) |
1109
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1743 self.prototypeSimilarities.append(similarities/minimum(arange(1., len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities)))) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1744 |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1745 @staticmethod |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1746 def computePET(obj1, obj2, collisionDistanceThreshold): |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1747 '''Post-encroachment time based on distance threshold |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
1748 |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1749 Returns the smallest time difference when the object positions are within collisionDistanceThreshold |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1750 and the instants at which each object is passing through its corresponding position''' |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1751 positions1 = [p.astuple() for p in obj1.getPositions()] |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1752 positions2 = [p.astuple() for p in obj2.getPositions()] |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1753 n1 = len(positions1) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1754 n2 = len(positions2) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1755 pets = zeros((n1, n2)) |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1756 for i,t1 in enumerate(obj1.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1757 for j,t2 in enumerate(obj2.getTimeInterval()): |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1758 pets[i,j] = abs(t1-t2) |
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1759 distances = cdist(positions1, positions2, metric = 'euclidean') |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1760 smallDistances = (distances <= collisionDistanceThreshold) |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1761 if smallDistances.any(): |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1762 smallPets = pets[smallDistances] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1763 petIdx = smallPets.argmin() |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1764 distanceIndices = argwhere(smallDistances)[petIdx] |
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1765 return smallPets[petIdx], obj1.getFirstInstant()+distanceIndices[0], obj2.getFirstInstant()+distanceIndices[1] |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1766 else: |
887
e2452abba0e7
added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
881
diff
changeset
|
1767 return None, None, None |
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
1768 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
1769 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1770 '''Predicts the position of object at instant+deltaT, |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
1771 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
1772 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
|
1773 |
1086
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1774 def projectCurvilinear(self, alignments, halfWidth = 3): |
8734742c08c0
major refactoring of curvilinear trajectory projections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1085
diff
changeset
|
1775 self.curvilinearPositions = CurvilinearTrajectory.fromTrajectoryProjection(self.getPositions(), alignments, halfWidth) |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1776 |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1777 def computeSmoothTrajectory(self, minCommonIntervalLength): |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1778 '''Computes the trajectory as the mean of all features |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1779 if a feature exists, its position is |
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1780 |
567
072cedc3f33d
first integration of curvilinear transformation from Paul
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
562
diff
changeset
|
1781 Warning work in progress |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1782 TODO? not use the first/last 1-.. positions''' |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1783 nFeatures = len(self.features) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1784 if nFeatures == 0: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1785 print('Empty object features\nCannot compute smooth trajectory') |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1786 else: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1787 # compute the relative position vectors |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1788 relativePositions = {} # relativePositions[(i,j)] is the position of j relative to i |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1789 for i in range(nFeatures): |
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
1790 for j in range(i): |
562
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1791 fi = self.features[i] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1792 fj = self.features[j] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1793 inter = fi.commonTimeInterval(fj) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1794 if inter.length() >= minCommonIntervalLength: |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1795 xi = array(fi.getXCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1796 yi = array(fi.getYCoordinates()[inter.first-fi.getFirstInstant():int(fi.length())-(fi.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1797 xj = array(fj.getXCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1798 yj = array(fj.getYCoordinates()[inter.first-fj.getFirstInstant():int(fj.length())-(fj.getLastInstant()-inter.last)]) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1799 relativePositions[(i,j)] = Point(median(xj-xi), median(yj-yi)) |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1800 relativePositions[(j,i)] = -relativePositions[(i,j)] |
259ccb3dd962
work on object trajectory smoothing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
555
diff
changeset
|
1801 |
1106
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1802 def computeBoundingPolygon(self, instant): |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1803 '''Returns a bounding box for the feature positions at instant |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1804 bounding box format is a list of points (4 in this case for a rectangle) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1805 |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1806 TODO add method argument if using different methods/shapes''' |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1807 if self.hasFeatures(): |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1808 positions = [f.getPositionAtInstant(instant) for f in self.getFeatures() if f.existsAtInstant(instant)] |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1809 return Point.boundingRectangle(positions, self.getVelocityAtInstant(instant)) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1810 else: |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1811 print('Object {} has no features'.format(self.getNum())) |
799ef82caa1a
added code to compute bounding rectangle around each user
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1100
diff
changeset
|
1812 return None |
1109
6e8ab471ebd4
minor adjustment to Lionel s needs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1106
diff
changeset
|
1813 |
1132
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
1814 def motDistanceAtInstant(self, obj, instant): |
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
1815 '''Returns distance for computing CLEAR MOT metrics |
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
1816 (returns an actual value, otherwise munkres does not terminate)''' |
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
1817 return Point.distanceNorm2(self.getPositionAtInstant(instant), obj.getPositionAtInstant(instant)) |
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
1818 |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1819 ### |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1820 # User Type Classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1821 ### |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1822 def classifyUserTypeSpeedMotorized(self, threshold, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1823 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1824 slow: non-motorized -> pedestrians |
607 | 1825 fast: motorized -> cars |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1826 |
608
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1827 aggregationFunc can be any function that can be applied to a vector of speeds, including percentile: |
078adacd72a4
moving.py integrating Mohamed's comments refactored
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
607
diff
changeset
|
1828 aggregationFunc = lambda x: percentile(x, percentileFactor) # where percentileFactor is 85 for 85th percentile''' |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1829 speeds = self.getSpeeds(nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1830 if aggregationFunc(speeds) >= threshold: |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1831 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1832 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1833 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
1834 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1835 def classifyUserTypeSpeed(self, speedProbabilities, aggregationFunc = median, nInstantsIgnoredAtEnds = 0): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1836 '''Classifies road user per road user type |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1837 speedProbabilities are functions return P(speed|class) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1838 in a dictionary indexed by user type names |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1839 Returns probabilities for each class |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1840 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1841 for simple threshold classification, simply pass non-overlapping indicator functions (membership) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1842 e.g. def indic(x): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1843 if abs(x-mu) < sigma: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1844 return 1 |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1845 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1846 return x''' |
626
35155ac2a294
corrected bugs, in particular to MovingObject.play
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
624
diff
changeset
|
1847 if not hasattr(self, 'aggregatedSpeed'): |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1848 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
581
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1849 userTypeProbabilities = {} |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1850 for userTypename in speedProbabilities: |
10e8a9f2bd9f
change for python 2.6
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
579
diff
changeset
|
1851 userTypeProbabilities[userType2Num[userTypename]] = speedProbabilities[userTypename](self.aggregatedSpeed) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1852 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1853 return userTypeProbabilities |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1854 |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1855 def initClassifyUserTypeHoGSVM(self, aggregationFunc, pedBikeCarSVM, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), nInstantsIgnoredAtEnds = 0, homography = None, intrinsicCameraMatrix = None, distortionCoefficients = None): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1856 '''Initializes the data structures for classification |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1857 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1858 TODO? compute speed for longest feature?''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1859 self.aggregatedSpeed = aggregationFunc(self.getSpeeds(nInstantsIgnoredAtEnds)) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1860 if self.aggregatedSpeed < pedBikeSpeedTreshold or bikeCarSVM is None: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1861 self.appearanceClassifier = pedBikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1862 elif self.aggregatedSpeed < bikeCarSpeedThreshold: |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1863 self.appearanceClassifier = bikeCarSVM |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1864 else: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1865 self.appearanceClassifier = carClassifier |
928
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1866 # project feature positions |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1867 if self.hasFeatures(): |
063d1267585d
work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
921
diff
changeset
|
1868 for f in self.getFeatures(): |
935
0e63a918a1ca
updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
933
diff
changeset
|
1869 pp = cvutils.worldToImageProject(f.getPositions().asArray(), intrinsicCameraMatrix, distortionCoefficients, homography).tolist() |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1870 f.positions = Trajectory(pp) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1871 self.userTypes = {} |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1872 |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1873 def classifyUserTypeHoGSVMAtInstant(self, img, instant, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm): |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1874 '''Extracts the image box around the object |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1875 (of square size max(width, height) of the box around the features, |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1876 with an added px or py for width and height (around the box)) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1877 computes HOG on this cropped image (with parameters rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
785
diff
changeset
|
1878 and applies the SVM model on it''' |
929
be28a3538dc9
work in progress on projection
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
928
diff
changeset
|
1879 croppedImg = cvutils.imageBox(img, self, instant, width, height, px, py, minNPixels) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
682
diff
changeset
|
1880 if croppedImg is not None and len(croppedImg) > 0: |
959
4f32d82ca390
corrected error due to change in Hog (scikit image)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
956
diff
changeset
|
1881 hog = cvutils.HOG(croppedImg, rescaleSize, orientations, pixelsPerCell, cellsPerBlock, blockNorm) |
993
e8eabef7857c
update to OpenCV3 for python
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
987
diff
changeset
|
1882 self.userTypes[instant] = self.appearanceClassifier.predict(hog.reshape(1,hog.size)) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1883 else: |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1884 self.userTypes[instant] = userType2Num['unknown'] |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1885 |
898
1fc901d983ed
better take into account unknown appearance classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1886 def classifyUserTypeHoGSVM(self, pedBikeCarSVM = None, width = 0, height = 0, homography = None, images = None, bikeCarSVM = None, pedBikeSpeedTreshold = float('Inf'), bikeCarSpeedThreshold = float('Inf'), minSpeedEquiprobable = -1, speedProbabilities = None, aggregationFunc = median, maxPercentUnknown = 0.5, nInstantsIgnoredAtEnds = 0, px = 0.2, py = 0.2, minNPixels = 800, rescaleSize = (64, 64), orientations = 9, pixelsPerCell = (8,8), cellsPerBlock = (2,2)): |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1887 '''Agregates SVM detections in each image and returns probability |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1888 (proportion of instants with classification in each category) |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1889 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1890 images is a dictionary of images indexed by instant |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1891 With default parameters, the general (ped-bike-car) classifier will be used |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1892 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1893 Considered categories are the keys of speedProbabilities''' |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1894 if not hasattr(self, 'aggregatedSpeed') or not hasattr(self, 'userTypes'): |
845 | 1895 print('Initializing the data structures for classification by HoG-SVM') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1896 self.initClassifyUserTypeHoGSVM(aggregationFunc, pedBikeCarSVM, bikeCarSVM, pedBikeSpeedTreshold, bikeCarSpeedThreshold, nInstantsIgnoredAtEnds) |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1897 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
675
diff
changeset
|
1898 if len(self.userTypes) != self.length() and images is not None: # if classification has not been done previously |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1899 for t in self.getTimeInterval(): |
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
520
diff
changeset
|
1900 if t not in self.userTypes: |
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1901 self.classifyUserTypeHoGSVMAtInstant(images[t], t, homography, width, height, px, py, minNPixels, rescaleSize, orientations, pixelsPerCell, cellsPerBlock) |
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1902 # compute P(Speed|Class) |
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1903 if speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable: # equiprobable information from speed |
522
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1904 userTypeProbabilities = {userType2Num['car']: 1., userType2Num['pedestrian']: 1., userType2Num['bicycle']: 1.} |
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1905 else: |
522
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1906 userTypeProbabilities = {userType2Num[userTypename]: speedProbabilities[userTypename](self.aggregatedSpeed) for userTypename in speedProbabilities} |
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1907 # compute P(Class|Appearance) |
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1908 nInstantsUserType = {userTypeNum: 0 for userTypeNum in userTypeProbabilities}# number of instants the object is classified as userTypename |
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1909 nInstantsUserType[userType2Num['unknown']] = 0 |
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1910 for t in self.userTypes: |
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1911 nInstantsUserType[self.userTypes[t]] += 1 #nInstantsUserType.get(self.userTypes[t], 0) + 1 |
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1912 # result is P(Class|Appearance) x P(Speed|Class) |
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1913 if nInstantsUserType[userType2Num['unknown']] < maxPercentUnknown*self.length(): # if not too many unknowns |
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1914 for userTypeNum in userTypeProbabilities: |
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1915 userTypeProbabilities[userTypeNum] *= nInstantsUserType[userTypeNum] |
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1916 # class is the user type that maximizes usertype probabilities |
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diff
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1917 if nInstantsUserType[userType2Num['unknown']] >= maxPercentUnknown*self.length() and (speedProbabilities is None or self.aggregatedSpeed < minSpeedEquiprobable): # if no speed information and too many unknowns |
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1918 self.setUserType(userType2Num['unknown']) |
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1919 else: |
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1920 self.setUserType(utils.argmaxDict(userTypeProbabilities)) |
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1921 |
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1922 def classifyUserTypeArea(self, areas, homography): |
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1923 '''Classifies the object based on its location (projected to image space) |
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1924 areas is a dictionary of matrix of the size of the image space |
522
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diff
changeset
|
1925 for different road users possible locations, indexed by road user type names |
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diff
changeset
|
1926 |
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diff
changeset
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1927 TODO: areas could be a wrapper object with a contains method that would work for polygons and images (with wrapper class) |
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diff
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|
1928 skip frames at beginning/end?''' |
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diff
changeset
|
1929 print('not implemented/tested yet') |
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diff
changeset
|
1930 if not hasattr(self, projectedPositions): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
1931 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
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parents:
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diff
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1932 self.projectedPositions = obj.positions.homographyProject(homography) |
522
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parents:
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diff
changeset
|
1933 else: |
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parents:
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diff
changeset
|
1934 self.projectedPositions = obj.positions |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
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parents:
522
diff
changeset
|
1935 possibleUserTypes = {userType: 0 for userType in range(len(userTypenames))} |
522
ce40a89bd6ae
added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
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parents:
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diff
changeset
|
1936 for p in self.projectedPositions: |
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parents:
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diff
changeset
|
1937 for userTypename in areas: |
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parents:
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diff
changeset
|
1938 if areas[userTypename][p.x, p.y] != 0: |
523
ce4eaabacc26
modified internal implementation of user type for classifyUserTypeArea
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parents:
522
diff
changeset
|
1939 possibleUserTypes[userType2Enum[userTypename]] += 1 |
522
ce40a89bd6ae
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parents:
520
diff
changeset
|
1940 # what to do: threshold for most common type? self.setUserType() |
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added functions for classification refactored from Sohail s work for TRB/TRC (to be tested)
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parents:
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diff
changeset
|
1941 return possibleUserTypes |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
1942 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
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parents:
66
diff
changeset
|
1943 @staticmethod |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1944 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
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parents:
66
diff
changeset
|
1945 'A positive result indicates that the road users are getting closer' |
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parents:
66
diff
changeset
|
1946 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
ded58c424783
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parents:
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diff
changeset
|
1947 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
|
1948 return Point.dot(deltap, deltav) |
67
ded58c424783
added indicator computation and modified severity indicator constructor
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parents:
66
diff
changeset
|
1949 |
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
1950 @staticmethod |
ded58c424783
added indicator computation and modified severity indicator constructor
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parents:
66
diff
changeset
|
1951 def collisionCourseCosine(movingObject1, movingObject2, instant): |
ded58c424783
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parents:
66
diff
changeset
|
1952 'A positive result indicates that the road users are getting closer' |
378
3805b9639647
added tests for movement orientation, object size
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parents:
377
diff
changeset
|
1953 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
3805b9639647
added tests for movement orientation, object size
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parents:
377
diff
changeset
|
1954 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
0
diff
changeset
|
1955 |
587
cf578ba866da
added code to load bounding box corners as trajectories
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parents:
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diff
changeset
|
1956 |
921
630934595871
work in progress with prototype class
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diff
changeset
|
1957 class Prototype(object): |
630934595871
work in progress with prototype class
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parents:
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diff
changeset
|
1958 'Class for a prototype' |
630934595871
work in progress with prototype class
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diff
changeset
|
1959 |
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diff
changeset
|
1960 def __init__(self, filename, num, trajectoryType, nMatchings = None): |
630934595871
work in progress with prototype class
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diff
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|
1961 self.filename = filename |
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work in progress with prototype class
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parents:
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diff
changeset
|
1962 self.num = num |
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diff
changeset
|
1963 self.trajectoryType = trajectoryType |
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diff
changeset
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1964 self.nMatchings = nMatchings |
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work in progress with prototype class
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diff
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|
1965 self.movingObject = None |
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work in progress with prototype class
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parents:
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diff
changeset
|
1966 |
630934595871
work in progress with prototype class
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parents:
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diff
changeset
|
1967 def getFilename(self): |
630934595871
work in progress with prototype class
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parents:
918
diff
changeset
|
1968 return self.filename |
630934595871
work in progress with prototype class
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parents:
918
diff
changeset
|
1969 def getNum(self): |
630934595871
work in progress with prototype class
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parents:
918
diff
changeset
|
1970 return self.num |
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work in progress with prototype class
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parents:
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diff
changeset
|
1971 def getTrajectoryType(self): |
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diff
changeset
|
1972 return self.trajectoryType |
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diff
changeset
|
1973 def getNMatchings(self): |
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work in progress with prototype class
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parents:
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diff
changeset
|
1974 return self.nMatchings |
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work in progress with prototype class
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parents:
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diff
changeset
|
1975 def getMovingObject(self): |
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work in progress with prototype class
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parents:
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diff
changeset
|
1976 return self.movingObject |
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diff
changeset
|
1977 def setMovingObject(self, o): |
630934595871
work in progress with prototype class
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parents:
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diff
changeset
|
1978 self.movingObject = o |
1035
933588568bec
major update to learn motion pattern, see program description
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parents:
1030
diff
changeset
|
1979 def __str__(self): |
933588568bec
major update to learn motion pattern, see program description
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parents:
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diff
changeset
|
1980 return '{} {} {}'.format(self.filename, self.num, self.trajectoryType) |
1037
6a6c37eb3a74
added function to load prototype assignments
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parents:
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diff
changeset
|
1981 def __eq__(self, p2): |
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added function to load prototype assignments
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parents:
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diff
changeset
|
1982 return self.filename == p2.filename and self.num == p2.num and self.trajectoryType == p2.trajectoryType |
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added function to load prototype assignments
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parents:
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diff
changeset
|
1983 def __hash__(self): |
6a6c37eb3a74
added function to load prototype assignments
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parents:
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diff
changeset
|
1984 return hash((self.filename, self.num, self.trajectoryType)) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
1985 |
587
cf578ba866da
added code to load bounding box corners as trajectories
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parents:
583
diff
changeset
|
1986 ################## |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1987 # Annotations |
587
cf578ba866da
added code to load bounding box corners as trajectories
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parents:
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diff
changeset
|
1988 ################## |
cf578ba866da
added code to load bounding box corners as trajectories
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parents:
583
diff
changeset
|
1989 |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1990 class BBMovingObject(MovingObject): |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
762
diff
changeset
|
1991 '''Class for a moving object represented as a bounding box |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
762
diff
changeset
|
1992 used for series of ground truth annotations using bounding boxes |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1993 and for the output of Urban Tracker http://www.jpjodoin.com/urbantracker/ |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1994 |
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
1995 By default in image space |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1996 |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
1997 Its center is the center of the box (generalize to other shapes?) |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
1998 (computed after projecting if homography available) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
1999 ''' |
587
cf578ba866da
added code to load bounding box corners as trajectories
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parents:
583
diff
changeset
|
2000 |
1132
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
2001 def __init__(self, topLeftPositions, bottomRightPositions, num = None, timeInterval = None, userType = userType2Num['unknown']): |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
2002 super(BBMovingObject, self).__init__(num, timeInterval, userType = userType) |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
2003 self.topLeftPositions = topLeftPositions.getPositions() |
5800a87f11ae
corrected one bug and changed attribute names
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parents:
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diff
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|
2004 self.bottomRightPositions = bottomRightPositions.getPositions() |
590
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
2005 |
0fa73cbe9fdb
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
2006 def computeCentroidTrajectory(self, homography = None): |
939
a2f3f3ca241e
work in progress
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parents:
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diff
changeset
|
2007 self.positions = self.topLeftPositions.add(self.bottomRightPositions).__mul__(0.5) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
635
diff
changeset
|
2008 if homography is not None: |
936
56cc8a1f7082
removed all old versions of projection methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
935
diff
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|
2009 self.positions = self.positions.homographyProject(homography) |
590
0fa73cbe9fdb
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
2010 |
1081
346b41cbc81a
added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
2011 def matchObjects(obj1, obj2, instant, matchingDistance): |
346b41cbc81a
added code idea from Paul St Aubin
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parents:
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diff
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|
2012 '''Indicates if obj matches obj2 with threshold matchingDistance |
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diff
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2013 Returns distance if below matchingDistance, matchingDistance+1 otherwise |
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diff
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|
2014 (returns an actual value, otherwise munkres does not terminate)''' |
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parents:
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diff
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|
2015 d = Point.distanceNorm2(obj1.getPositionAtInstant(instant), obj2.getPositionAtInstant(instant)) |
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added code idea from Paul St Aubin
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parents:
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diff
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|
2016 if d < matchingDistance: |
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added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
2017 return d |
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diff
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|
2018 else: |
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added code idea from Paul St Aubin
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parents:
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diff
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|
2019 return matchingDistance + 1 |
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added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1079
diff
changeset
|
2020 |
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added code idea from Paul St Aubin
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1079
diff
changeset
|
2021 # TODO class to have different matching methods, eg with something like matchObjects |
723
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
2022 def computeClearMOT(annotations, objects, matchingDistance, firstInstant, lastInstant, returnMatches = False, debug = False): |
594
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diff
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|
2023 '''Computes the CLEAR MOT metrics |
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parents:
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diff
changeset
|
2024 |
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parents:
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diff
changeset
|
2025 Reference: |
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parents:
593
diff
changeset
|
2026 Keni, Bernardin, and Stiefelhagen Rainer. "Evaluating multiple object tracking performance: the CLEAR MOT metrics." EURASIP Journal on Image and Video Processing 2008 (2008) |
590
0fa73cbe9fdb
annotation centroid are computed explicitly and projected at that step if required
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
589
diff
changeset
|
2027 |
1190
d24d57e4de24
work on optimization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1185
diff
changeset
|
2028 objects and annotations are supposed to be in the same space |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
762
diff
changeset
|
2029 current implementation is BBMovingObject (bounding boxes) |
592
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
2030 mathingDistance is threshold on matching between annotation and object |
985a3021cff2
first match table implementation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
590
diff
changeset
|
2031 |
594
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diff
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|
2032 TO: tracker output (objects) |
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diff
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|
2033 GT: ground truth (annotations) |
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diff
changeset
|
2034 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2035 Output: returns motp, mota, mt, mme, fpt, gt |
bac66bd536c5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2036 mt number of missed GT.frames (sum of the number of GT not detected in each frame) |
bac66bd536c5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
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|
2037 mme number of mismatches |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2038 fpt number of false alarm.frames (tracker objects without match in each frame) |
bac66bd536c5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2039 gt number of GT.frames |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2040 |
723
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2041 if returnMatches is True, return as 2 new arguments the GT and TO matches |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
2042 matches is a dict |
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2043 matches[i] is the list of matches for GT/TO i |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
2044 the list of matches is a dict, indexed by time, for the TO/GT id matched at time t |
723
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2045 (an instant t not present in matches[i] at which GT/TO exists means a missed detection or false alarm) |
e14e2101a5a9
returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2046 |
624
bac66bd536c5
added slight documentation of CLEAR MOT output
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
623
diff
changeset
|
2047 TODO: Should we use the distance as weights or just 1/0 if distance below matchingDistance? |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2048 (add argument useDistanceForWeights = False)''' |
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parents:
593
diff
changeset
|
2049 from munkres import Munkres |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
2050 |
594
9e39cd95e017
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parents:
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diff
changeset
|
2051 munk = Munkres() |
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593
diff
changeset
|
2052 dist = 0. # total distance between GT and TO |
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parents:
593
diff
changeset
|
2053 ct = 0 # number of associations between GT and tracker output in each frame |
9e39cd95e017
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2054 gt = 0 # number of GT.frames |
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593
diff
changeset
|
2055 mt = 0 # number of missed GT.frames (sum of the number of GT not detected in each frame) |
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parents:
593
diff
changeset
|
2056 fpt = 0 # number of false alarm.frames (tracker objects without match in each frame) |
9e39cd95e017
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593
diff
changeset
|
2057 mme = 0 # number of mismatches |
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593
diff
changeset
|
2058 matches = {} # match[i] is the tracker track associated with GT i (using object references) |
723
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2059 if returnMatches: |
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returns detailed matching information for clear mot
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2060 gtMatches = {a.getNum():{} for a in annotations} |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
2061 toMatches = {o.getNum():{} for o in objects} |
956
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
2062 else: |
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
2063 gtMatches = None |
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
2064 toMatches = None |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
2065 for t in range(firstInstant, lastInstant+1): |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2066 previousMatches = matches.copy() |
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parents:
593
diff
changeset
|
2067 # go through currently matched GT-TO and check if they are still matched withing matchingDistance |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2068 toDelete = [] |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2069 for a in matches: |
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first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2070 if a.existsAtInstant(t) and matches[a].existsAtInstant(t): |
1132
09ef0dc994a0
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1126
diff
changeset
|
2071 d = a.motDistanceAtInstant(matches[a], t) |
594
9e39cd95e017
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2072 if d < matchingDistance: |
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parents:
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diff
changeset
|
2073 dist += d |
592
985a3021cff2
first match table implementation
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parents:
590
diff
changeset
|
2074 else: |
594
9e39cd95e017
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parents:
593
diff
changeset
|
2075 toDelete.append(a) |
9e39cd95e017
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parents:
593
diff
changeset
|
2076 else: |
9e39cd95e017
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parents:
593
diff
changeset
|
2077 toDelete.append(a) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2078 for a in toDelete: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2079 del matches[a] |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
changeset
|
2080 |
594
9e39cd95e017
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2081 # match all unmatched GT-TO |
998
933670761a57
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
2082 matchedGTs = list(matches.keys()) |
933670761a57
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
2083 matchedTOs = list(matches.values()) |
594
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parents:
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diff
changeset
|
2084 costs = [] |
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diff
changeset
|
2085 unmatchedGTs = [a for a in annotations if a.existsAtInstant(t) and a not in matchedGTs] |
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diff
changeset
|
2086 unmatchedTOs = [o for o in objects if o.existsAtInstant(t) and o not in matchedTOs] |
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diff
changeset
|
2087 nGTs = len(matchedGTs)+len(unmatchedGTs) |
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diff
changeset
|
2088 nTOs = len(matchedTOs)+len(unmatchedTOs) |
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diff
changeset
|
2089 if len(unmatchedTOs) > 0: |
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parents:
593
diff
changeset
|
2090 for a in unmatchedGTs: |
1133
c4d9c270f999
modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1132
diff
changeset
|
2091 costs.append([a.motDistanceAtInstant(o, t) for o in unmatchedTOs]) |
594
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parents:
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diff
changeset
|
2092 if len(costs) > 0: |
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parents:
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diff
changeset
|
2093 newMatches = munk.compute(costs) |
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593
diff
changeset
|
2094 for k,v in newMatches: |
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parents:
593
diff
changeset
|
2095 if costs[k][v] < matchingDistance: |
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diff
changeset
|
2096 matches[unmatchedGTs[k]]=unmatchedTOs[v] |
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diff
changeset
|
2097 dist += costs[k][v] |
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593
diff
changeset
|
2098 if debug: |
998
933670761a57
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
changeset
|
2099 print('{} '.format(t)+', '.join(['{} {}'.format(k.getNum(), v.getNum()) for k,v in matches.items()])) |
723
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diff
changeset
|
2100 if returnMatches: |
998
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
2101 for a,o in matches.items(): |
723
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diff
changeset
|
2102 gtMatches[a.getNum()][t] = o.getNum() |
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diff
changeset
|
2103 toMatches[o.getNum()][t] = a.getNum() |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
2104 |
594
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diff
changeset
|
2105 # compute metrics elements |
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diff
changeset
|
2106 ct += len(matches) |
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diff
changeset
|
2107 mt += nGTs-len(matches) |
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diff
changeset
|
2108 fpt += nTOs-len(matches) |
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diff
changeset
|
2109 gt += nGTs |
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first implementation of CLEAR MOT (needs formal tests)
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2110 # compute mismatches |
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first implementation of CLEAR MOT (needs formal tests)
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2111 # for gt that do not appear in both frames, check if the corresponding to was matched to another gt in previous/next frame |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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2112 mismatches = [] |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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|
2113 for a in matches: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
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diff
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2114 if a in previousMatches: |
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first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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2115 if matches[a] != previousMatches[a]: |
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first implementation of CLEAR MOT (needs formal tests)
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2116 mismatches.append(a) |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
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2117 elif matches[a] in list(previousMatches.values()): |
594
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2118 mismatches.append(matches[a]) |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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593
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|
2119 for a in previousMatches: |
998
933670761a57
updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
997
diff
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2120 if a not in matches and previousMatches[a] in list(matches.values()): |
594
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first implementation of CLEAR MOT (needs formal tests)
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diff
changeset
|
2121 mismatches.append(previousMatches[a]) |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
2122 if debug: |
594
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first implementation of CLEAR MOT (needs formal tests)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
593
diff
changeset
|
2123 for mm in set(mismatches): |
978
184f1dd307f9
corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
959
diff
changeset
|
2124 print('{} {}'.format(type(mm), mm.getNum())) |
594
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
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diff
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|
2125 # some object mismatches may appear twice |
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first implementation of CLEAR MOT (needs formal tests)
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diff
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|
2126 mme += len(set(mismatches)) |
1110
6bbcd9433732
formatting and addition of one method to CurvilinearTrajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1109
diff
changeset
|
2127 |
594
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diff
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|
2128 if ct > 0: |
9e39cd95e017
first implementation of CLEAR MOT (needs formal tests)
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parents:
593
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|
2129 motp = dist/ct |
593
e2a873e08568
non-working clear mot metrics
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
592
diff
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|
2130 else: |
594
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diff
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|
2131 motp = None |
595
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
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|
2132 if gt > 0: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
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|
2133 mota = 1.-float(mt+fpt+mme)/gt |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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594
diff
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|
2134 else: |
17b02c8054d0
added tests and corrected one bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
594
diff
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|
2135 mota = None |
956
196a1fd498ba
removing unnecessary complexity of varying number of return elements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
949
diff
changeset
|
2136 return motp, mota, mt, mme, fpt, gt, gtMatches, toMatches |
593
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non-working clear mot metrics
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parents:
592
diff
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|
2137 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
2138 def plotRoadUsers(objects, colors): |
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
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|
2139 '''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
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|
2140 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
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|
2141 figure() |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
2142 for obj in objects: |
515
727e3c529519
renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
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|
2143 obj.plot(colors.get(obj.userType)) |
62
290fceb125d2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
2144 axis('equal') |
290fceb125d2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
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|
2145 |
290fceb125d2
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58
diff
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|
2146 |
1016 | 2147 if __name__ == "__main__": |
2
de5642925615
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0
diff
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|
2148 import doctest |
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0
diff
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|
2149 import unittest |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
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|
2150 suite = doctest.DocFileSuite('tests/moving.txt') |
6d11d9e7ad4e
methods for trajectories and objects
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41
diff
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|
2151 #suite = doctest.DocTestSuite() |
2
de5642925615
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0
diff
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|
2152 unittest.TextTestRunner().run(suite) |
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0
diff
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|
2153 #doctest.testmod() |
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0
diff
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|
2154 #doctest.testfile("example.txt") |
1096
9a32d63bae3f
update from Lionel Nebot Janvier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1094
diff
changeset
|
2155 if shapelyAvailable: |
635
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
633
diff
changeset
|
2156 suite = doctest.DocFileSuite('tests/moving_shapely.txt') |
6ae68383071e
corrected issue with tests requiring shapely, adding a separate test file
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parents:
633
diff
changeset
|
2157 unittest.TextTestRunner().run(suite) |