Mercurial Hosting > traffic-intelligence
annotate python/moving.py @ 520:fd9641cbd24b
added function to classify object at instant from SVM
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 18 Jun 2014 01:19:18 -0400 |
parents | 47d9970ee954 |
children | ce40a89bd6ae |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils |
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5 import cvutils |
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6 |
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7 from math import sqrt |
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8 from numpy import median |
16 | 9 |
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10 try: |
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11 from shapely.geometry import Polygon, Point as shapelyPoint |
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12 from shapely.prepared import prep |
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13 shapelyAvailable = True |
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14 except ImportError: |
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15 print('Shapely library could not be loaded') |
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16 shapelyAvailable = False |
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17 |
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18 __metaclass__ = type |
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19 |
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20 class Interval(object): |
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21 '''Generic interval: a subset of real numbers (not iterable)''' |
26 | 22 def __init__(self, first=0, last=-1, revert = False): |
23 if revert and last<first: | |
24 self.first=last | |
25 self.last=first | |
26 else: | |
27 self.first=first | |
28 self.last=last | |
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29 |
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30 def __str__(self): |
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31 return '[{0}, {1}]'.format(self.first, self.last) |
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32 |
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33 def __repr__(self): |
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34 return self.__str__() |
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35 |
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36 def empty(self): |
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37 return self.first > self.last |
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38 |
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39 def center(self): |
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40 return (self.first+self.last)/2. |
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41 |
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42 def length(self): |
43
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43 '''Returns the length of the interval''' |
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44 return float(max(0,self.last-self.first)) |
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45 |
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46 def equal(self, i2): |
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47 return self.first==i2.first and self.last == i2.last |
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48 |
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49 def getList(self): |
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50 return [self.first, self.last] |
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51 |
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52 def contains(self, instant): |
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53 return (self.first<=instant and self.last>=instant) |
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54 |
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55 def inside(self, interval2): |
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56 '''Indicates if the temporal interval of self is comprised in interval2''' |
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57 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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58 |
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59 @classmethod |
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60 def union(cls, interval1, interval2): |
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61 '''Smallest interval comprising self and interval2''' |
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62 return cls(min(interval1.first, interval2.first), max(interval2.last, interval2.last)) |
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63 |
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64 @classmethod |
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65 def intersection(cls, interval1, interval2): |
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66 '''Largest interval comprised in both self and interval2''' |
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67 return cls(max(interval1.first, interval2.first), min(interval1.last, interval2.last)) |
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68 |
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69 def distance(self, interval2): |
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70 if not Interval.intersection(self, interval2).empty(): |
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71 return 0 |
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72 elif self.first > interval2.last: |
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73 return self.first - interval2.last |
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74 elif self.last < interval2.first: |
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75 return interval2.first - self.last |
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76 else: |
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77 return None |
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78 |
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79 |
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80 def unionIntervals(intervals): |
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81 'returns the smallest interval containing all intervals' |
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82 inter = intervals[0] |
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83 for i in intervals[1:]: |
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84 inter = Interval.union(inter, i) |
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85 return inter |
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86 |
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87 |
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88 class TimeInterval(Interval): |
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89 '''Temporal interval: set of instants at fixed time step, between first and last, included |
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90 |
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91 For example: based on frame numbers (hence the modified length method) |
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92 It may be modified directly by setting first and last''' |
26 | 93 |
94 def __init__(self, first=0, last=-1): | |
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95 super(TimeInterval, self).__init__(first, last, False) |
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96 |
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97 @staticmethod |
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98 def fromInterval(inter): |
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99 return TimeInterval(inter.first, inter.last) |
26 | 100 |
27
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101 def __getitem__(self, i): |
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102 if not self.empty(): |
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103 return self.first+i |
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104 |
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105 def __iter__(self): |
107
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106 self.iterInstantNum = -1 |
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107 return self |
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108 |
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109 def next(self): |
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110 if self.iterInstantNum >= self.length()-1: |
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111 raise StopIteration |
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112 else: |
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113 self.iterInstantNum += 1 |
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114 return self[self.iterInstantNum] |
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115 |
26 | 116 def length(self): |
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117 '''Returns the length of the interval''' |
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118 return float(max(0,self.last-self.first+1)) |
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119 |
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120 # class BoundingPolygon: |
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121 # '''Class for a polygon bounding a set of points |
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122 # with methods to create intersection, unions... |
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123 # ''' |
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124 # We will use the polygon class of Shapely |
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125 |
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126 class STObject(object): |
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127 '''Class for spatio-temporal object, i.e. with temporal and spatial existence |
6 | 128 (time interval and bounding polygon for positions (e.g. rectangle)). |
288
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129 |
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130 It may not mean that the object is defined |
6 | 131 for all time instants within the time interval''' |
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132 |
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133 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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134 self.num = num |
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135 self.timeInterval = timeInterval |
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136 self.boundingPolygon = boundingPolygon |
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137 |
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138 def empty(self): |
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139 return self.timeInterval.empty() or not self.boudingPolygon |
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140 |
329
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141 def getNum(self): |
211 | 142 return self.num |
143 | |
2
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144 def getFirstInstant(self): |
40
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145 return self.timeInterval.first |
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146 |
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147 def getLastInstant(self): |
40
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148 return self.timeInterval.last |
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149 |
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150 def getTimeInterval(self): |
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151 return self.timeInterval |
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152 |
108
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153 def existsAtInstant(self, t): |
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154 return self.timeInterval.contains(t) |
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155 |
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156 def commonTimeInterval(self, obj2): |
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157 return TimeInterval.intersection(self.getTimeInterval(), obj2.getTimeInterval()) |
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158 |
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159 class Point(object): |
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160 def __init__(self, x, y): |
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161 self.x = x |
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162 self.y = y |
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163 |
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164 def __str__(self): |
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165 return '(%f,%f)'%(self.x,self.y) |
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166 |
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167 def __repr__(self): |
98
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168 return self.__str__() |
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169 |
184
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170 def __add__(self, other): |
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171 return Point(self.x+other.x, self.y+other.y) |
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172 |
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173 def __sub__(self, other): |
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174 return Point(self.x-other.x, self.y-other.y) |
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175 |
451
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176 def __neg__(self): |
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177 return Point(-self.x, -self.y) |
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178 |
105
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179 def multiply(self, alpha): |
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180 return Point(self.x*alpha, self.y*alpha) |
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181 |
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182 def plot(self, options = 'o', **kwargs): |
41 | 183 from matplotlib.pylab import plot |
211 | 184 plot([self.x], [self.y], options, **kwargs) |
41 | 185 |
38
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186 def norm2Squared(self): |
43
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187 '''2-norm distance (Euclidean distance)''' |
38
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188 return self.x*self.x+self.y*self.y |
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189 |
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190 def norm2(self): |
288
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191 '''2-norm distance (Euclidean distance)''' |
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192 return sqrt(self.norm2Squared()) |
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193 |
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194 def norm1(self): |
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195 return abs(self.x)+abs(self.y) |
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196 |
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197 def normMax(self): |
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198 return max(abs(self.x),abs(self.y)) |
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199 |
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200 def aslist(self): |
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201 return [self.x, self.y] |
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202 |
203
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203 def astuple(self): |
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204 return (self.x, self.y) |
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205 |
223
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206 def asint(self): |
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207 return Point(int(self.x), int(self.y)) |
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208 |
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209 if shapelyAvailable: |
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210 def asShapely(self): |
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211 return shapelyPoint(self.x, self.y) |
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212 |
98
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213 def project(self, homography): |
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214 from numpy.core.multiarray import array |
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215 projected = cvutils.projectArray(homography, array([[self.x], [self.y]])) |
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216 return Point(projected[0], projected[1]) |
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217 |
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218 def inPolygonNoShapely(self, polygon): |
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219 '''Indicates if the point x, y is inside the polygon |
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220 (array of Nx2 coordinates of the polygon vertices) |
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221 |
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222 taken from http://www.ariel.com.au/a/python-point-int-poly.html |
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223 |
372
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224 Use Polygon.contains if Shapely is installed''' |
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225 |
372
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226 n = polygon.shape[0]; |
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227 counter = 0; |
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228 |
372
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229 p1 = polygon[0,:]; |
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230 for i in range(n+1): |
372
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231 p2 = polygon[i % n,:]; |
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232 if self.y > min(p1[1],p2[1]): |
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233 if self.y <= max(p1[1],p2[1]): |
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234 if self.x <= max(p1[0],p2[0]): |
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235 if p1[1] != p2[1]: |
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236 xinters = (self.y-p1[1])*(p2[0]-p1[0])/(p2[1]-p1[1])+p1[0]; |
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237 if p1[0] == p2[0] or self.x <= xinters: |
79
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238 counter+=1; |
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239 p1=p2 |
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240 return (counter%2 == 1); |
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241 |
49 | 242 @staticmethod |
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243 def dot(p1, p2): |
89
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244 'Scalar product' |
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245 return p1.x*p2.x+p1.y*p2.y |
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246 |
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247 @staticmethod |
90
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248 def cross(p1, p2): |
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249 'Cross product' |
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250 return p1.x*p2.y-p1.y*p2.x |
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251 |
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252 @staticmethod |
378
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253 def cosine(p1, p2): |
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254 return Point.dot(p1,p2)/(p1.norm2()*p2.norm2()) |
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255 |
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256 @staticmethod |
38
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257 def distanceNorm2(p1, p2): |
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258 return (p1-p2).norm2() |
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259 |
64
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260 @staticmethod |
357
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261 def plotAll(points, **kwargs): |
64
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262 from matplotlib.pyplot import scatter |
357
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263 scatter([p.x for p in points],[p.y for p in points], **kwargs) |
64
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264 |
378
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265 def similarOrientation(self, refDirection, cosineThreshold): |
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266 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' |
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267 return Point.cosine(self, refDirection) >= cosineThreshold |
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268 |
464
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269 @staticmethod |
484
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270 def timeToCollision(p1, p2, v1, v2, collisionThreshold): |
504
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271 '''Computes exact time to collision with a distance threshold |
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272 The unknown of the equation is the time to reach the intersection |
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273 between the relative trajectory of one road user |
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274 and the circle of radius collisionThreshold around the other road user''' |
464
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275 from math import sqrt |
504
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276 dv = v1-v2 |
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277 dp = p1-p2 |
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278 a = dv.norm2Squared()#(v1.x-v2.x)**2 + (v1.y-v2.y)**2 |
516
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279 b = 2*Point.dot(dv, dp)#2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y)) |
504
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280 c = dp.norm2Squared() - collisionThreshold**2#(p1.x-p2.x)**2 + (p1.y-p2.y)**2 - collisionThreshold**2 |
464
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281 |
504
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282 delta = b**2 - 4*a*c |
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283 if delta >= 0: |
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284 deltaRoot = sqrt(delta) |
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285 ttc1 = (-b + deltaRoot)/(2*a) |
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286 ttc2 = (-b - deltaRoot)/(2*a) |
464
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287 if ttc1 >= 0 and ttc2 >= 0: |
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288 ttc = min(ttc1,ttc2) |
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289 else: |
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290 if ttc1 < 0: |
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291 ttc = ttc2 |
484
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|
292 elif ttc2 < 0: |
464
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293 ttc = ttc1 |
484
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|
294 else: # ttc1 < 0 and ttc2 < 0: |
464
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295 ttc = None |
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296 else: |
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297 ttc = None |
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298 return ttc |
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299 |
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300 |
372
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301 if shapelyAvailable: |
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302 def pointsInPolygon(points, polygon): |
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303 '''Optimized tests of a series of points within (Shapely) polygon ''' |
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|
304 prepared_polygon = prep(polygon) |
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|
305 return filter(prepared_polygon.contains, points) |
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|
306 |
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|
307 |
290
df58d361f19e
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288
diff
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|
308 class NormAngle(object): |
288
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284
diff
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|
309 '''Alternate encoding of a point, by its norm and orientation''' |
245
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|
310 |
250
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|
311 def __init__(self, norm, angle): |
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312 self.norm = norm |
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|
313 self.angle = angle |
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diff
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|
314 |
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diff
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|
315 @staticmethod |
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|
316 def fromPoint(p): |
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diff
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|
317 from math import atan2 |
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diff
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|
318 norm = p.norm2() |
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diff
changeset
|
319 if norm > 0: |
259
8ab76b95ee72
added code to save collision points and crossing zones in txt files
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258
diff
changeset
|
320 angle = atan2(p.y, p.x) |
339 | 321 else: |
322 angle = 0. | |
250
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diff
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|
323 return NormAngle(norm, angle) |
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diff
changeset
|
324 |
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|
325 def __add__(self, other): |
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diff
changeset
|
326 'a norm cannot become negative' |
255
13ec22bec5d4
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diff
changeset
|
327 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle) |
250
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changeset
|
328 |
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diff
changeset
|
329 def getPoint(self): |
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|
330 from math import cos, sin |
255
13ec22bec5d4
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diff
changeset
|
331 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle)) |
250
59f547aebaac
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diff
changeset
|
332 |
59f547aebaac
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diff
changeset
|
333 |
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diff
changeset
|
334 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): |
245
bd8ab323c198
corrected issue with predictPosiont static method
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diff
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|
335 '''Predicts the position in nTimeSteps at constant speed/acceleration''' |
250
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diff
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|
336 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) |
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|
337 |
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diff
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|
338 def predictPosition(position, speedOrientation, control, maxSpeed = None): |
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diff
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|
339 '''Predicts the position (moving.Point) at the next time step with given control input (deltaSpeed, deltaTheta) |
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diff
changeset
|
340 speedOrientation is the other encoding of velocity, (speed, orientation) |
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|
341 speedOrientation and control are NormAngle''' |
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diff
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|
342 predictedSpeedTheta = speedOrientation+control |
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diff
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|
343 if maxSpeed: |
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diff
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|
344 predictedSpeedTheta.norm = min(predictedSpeedTheta.norm, maxSpeed) |
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diff
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|
345 predictedPosition = position+predictedSpeedTheta.getPoint() |
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diff
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|
346 return predictedPosition, predictedSpeedTheta |
245
bd8ab323c198
corrected issue with predictPosiont static method
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diff
changeset
|
347 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
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243
diff
changeset
|
348 |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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diff
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|
349 class FlowVector(object): |
184
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|
350 '''Class to represent 4-D flow vectors, |
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351 ie a position and a velocity''' |
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352 def __init__(self, position, velocity): |
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353 'position and velocity should be Point instances' |
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354 self.position = position |
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355 self.velocity = velocity |
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356 |
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|
357 def __add__(self, other): |
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358 return FlowVector(self.position+other.position, self.velocity+other.velocity) |
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|
359 |
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|
360 def multiply(self, alpha): |
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361 return FlowVector(self.position.multiply(alpha), self.velocity.multiply(alpha)) |
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362 |
515
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363 def plot(self, options = '', **kwargs): |
184
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364 from matplotlib.pylab import plot |
211 | 365 plot([self.position.x, self.position.x+self.velocity.x], [self.position.y, self.position.y+self.velocity.y], options, **kwargs) |
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366 self.position.plot(options+'x', **kwargs) |
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367 |
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368 @staticmethod |
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369 def similar(f1, f2, maxDistance2, maxDeltavelocity2): |
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370 return (f1.position-f2.position).norm2Squared()<maxDistance2 and (f1.velocity-f2.velocity).norm2Squared()<maxDeltavelocity2 |
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371 |
359
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372 def intersection(p1, p2, dp1, dp2): |
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373 '''Returns the intersection point between the two lines |
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374 defined by the respective vectors (dp) and origin points (p)''' |
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375 from numpy import matrix |
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376 from numpy.linalg import linalg |
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377 A = matrix([[dp1.y, -dp1.x], |
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378 [dp2.y, -dp2.x]]) |
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379 B = matrix([[dp1.y*p1.x-dp1.x*p1.y], |
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380 [dp2.y*p2.x-dp2.x*p2.y]]) |
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381 |
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382 if linalg.det(A) == 0: |
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383 return None |
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384 else: |
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385 intersection = linalg.solve(A,B) |
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386 return Point(intersection[0,0], intersection[1,0]) |
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387 |
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388 def segmentIntersection(p1, p2, p3, p4): |
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389 '''Returns the intersecting point of the segments [p1, p2] and [p3, p4], None otherwise''' |
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390 |
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391 if (Interval.intersection(Interval(p1.x,p2.x,True), Interval(p3.x,p4.x,True)).empty()) or (Interval.intersection(Interval(p1.y,p2.y,True), Interval(p3.y,p4.y,True)).empty()): |
152
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392 return None |
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393 else: |
359
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394 dp1 = p2-p1 |
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395 dp3 = p4-p3 |
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396 inter = intersection(p1, p3, dp1, dp3) |
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397 if (inter != None |
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398 and utils.inBetween(p1.x, p2.x, inter.x) |
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399 and utils.inBetween(p3.x, p4.x, inter.x) |
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400 and utils.inBetween(p1.y, p2.y, inter.y) |
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401 and utils.inBetween(p3.y, p4.y, inter.y)): |
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402 return inter |
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403 else: |
258
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404 return None |
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405 |
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406 # TODO: implement a better algorithm for intersections of sets of segments http://en.wikipedia.org/wiki/Line_segment_intersection |
152
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407 |
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408 class Trajectory(object): |
288
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409 '''Class for trajectories: temporal sequence of positions |
22 | 410 |
288
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411 The class is iterable''' |
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412 |
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413 def __init__(self, positions=None): |
331
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414 if positions != None: |
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415 self.positions = positions |
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416 else: |
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417 self.positions = [[],[]] |
43
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418 |
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419 @staticmethod |
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420 def load(line1, line2): |
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421 return Trajectory([[float(n) for n in line1.split(' ')], |
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422 [float(n) for n in line2.split(' ')]]) |
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423 |
256
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424 @staticmethod |
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425 def fromPointList(points): |
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426 t = Trajectory() |
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427 for p in points: |
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428 t.addPosition(p) |
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429 return t |
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430 |
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431 def __len__(self): |
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432 return len(self.positions[0]) |
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433 |
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434 def length(self): |
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435 return self.__len__() |
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436 |
16 | 437 def __str__(self): |
39 | 438 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 439 |
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440 def __repr__(self): |
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441 return str(self) |
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442 |
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443 def __getitem__(self, i): |
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444 return Point(self.positions[0][i], self.positions[1][i]) |
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445 |
22 | 446 def __iter__(self): |
447 self.iterInstantNum = 0 | |
448 return self | |
449 | |
450 def next(self): | |
451 if self.iterInstantNum >= self.length(): | |
452 raise StopIteration | |
453 else: | |
454 self.iterInstantNum += 1 | |
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455 return self[self.iterInstantNum-1] |
22 | 456 |
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457 def setPositionXY(self, i, x, y): |
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458 if i < self.__len__(): |
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459 self.positions[0][i] = x |
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460 self.positions[1][i] = y |
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461 |
327
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462 def setPosition(self, i, p): |
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463 self.setPositionXY(i, p.x, p.y) |
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464 |
71
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465 def addPositionXY(self, x, y): |
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466 self.positions[0].append(x) |
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467 self.positions[1].append(y) |
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468 |
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469 def addPosition(self, p): |
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470 self.addPositionXY(p.x, p.y) |
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471 |
343
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472 def duplicateLastPosition(self): |
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473 self.positions[0].append(self.positions[0][-1]) |
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474 self.positions[1].append(self.positions[1][-1]) |
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475 |
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476 @staticmethod |
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477 def _plot(positions, options = '', withOrigin = False, lastCoordinate = None, timeStep = 1, **kwargs): |
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478 from matplotlib.pylab import plot |
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479 if lastCoordinate == None: |
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480 plot(positions[0][::timeStep], positions[1][::timeStep], options, **kwargs) |
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481 elif 0 <= lastCoordinate <= len(positions[0]): |
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482 plot(positions[0][:lastCoordinate:timeStep], positions[1][:lastCoordinate:timeStep], options, **kwargs) |
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483 if withOrigin: |
211 | 484 plot([positions[0][0]], [positions[1][0]], 'ro', **kwargs) |
182
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485 |
203
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486 def project(self, homography): |
318 | 487 return Trajectory(cvutils.projectTrajectory(homography, self.positions)) |
203
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diff
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|
488 |
515
727e3c529519
renamed all draw functions to plot for consistency
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diff
changeset
|
489 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
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|
490 Trajectory._plot(self.positions, options, withOrigin, None, timeStep, **kwargs) |
182
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491 |
515
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504
diff
changeset
|
492 def plotAt(self, lastCoordinate, options = '', withOrigin = False, timeStep = 1, **kwargs): |
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diff
changeset
|
493 Trajectory._plot(self.positions, options, withOrigin, lastCoordinate, timeStep, **kwargs) |
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494 |
515
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diff
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|
495 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
182
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496 from matplotlib.pylab import plot |
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497 imgPositions = [[x*nPixelsPerUnitDistance for x in self.positions[0]], |
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diff
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498 [-x*nPixelsPerUnitDistance+imageHeight for x in self.positions[1]]] |
515
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diff
changeset
|
499 Trajectory._plot(imgPositions, options, withOrigin, timeStep, **kwargs) |
2
de5642925615
started implementation of TimeInterval and Spatio-temporal object
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diff
changeset
|
500 |
21
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501 def getXCoordinates(self): |
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502 return self.positions[0] |
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|
503 |
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504 def getYCoordinates(self): |
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diff
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505 return self.positions[1] |
92
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
506 |
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diff
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507 def asArray(self): |
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diff
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|
508 from numpy.core.multiarray import array |
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diff
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509 return array(self.positions) |
21
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|
510 |
14
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511 def xBounds(self): |
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512 # look for function that does min and max in one pass |
258
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513 return Interval(min(self.getXCoordinates()), max(self.getXCoordinates())) |
14
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|
514 |
e7bbe8465591
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515 def yBounds(self): |
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|
516 # look for function that does min and max in one pass |
258
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diff
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|
517 return Interval(min(self.getYCoordinates()), max(self.getYCoordinates())) |
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diff
changeset
|
518 |
43
6d11d9e7ad4e
methods for trajectories and objects
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diff
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|
519 def add(self, traj2): |
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methods for trajectories and objects
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diff
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520 '''Returns a new trajectory of the same length''' |
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diff
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|
521 if self.length() != traj2.length(): |
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diff
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|
522 print 'Trajectories of different lengths' |
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diff
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|
523 return None |
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diff
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|
524 else: |
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parents:
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diff
changeset
|
525 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
6d11d9e7ad4e
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diff
changeset
|
526 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
527 |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
528 def subtract(self, traj2): |
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methods for trajectories and objects
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parents:
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diff
changeset
|
529 '''Returns a new trajectory of the same length''' |
6d11d9e7ad4e
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diff
changeset
|
530 if self.length() != traj2.length(): |
6d11d9e7ad4e
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parents:
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diff
changeset
|
531 print 'Trajectories of different lengths' |
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41
diff
changeset
|
532 return None |
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methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
533 else: |
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diff
changeset
|
534 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
6d11d9e7ad4e
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
535 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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methods for trajectories and objects
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diff
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|
536 |
339 | 537 def differentiate(self): |
538 diff = Trajectory() | |
539 for i in xrange(1, self.length()): | |
540 diff.addPosition(self[i]-self[i-1]) | |
541 return diff | |
542 | |
16 | 543 def norm(self): |
544 '''Returns the list of the norms at each instant''' | |
545 # def add(x, y): return x+y | |
546 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
547 # return sqrt(sq) | |
248
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
245
diff
changeset
|
548 from numpy import hypot |
571ba5ed22e2
added utils for bus processing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
549 return hypot(self.positions[0], self.positions[1]) |
14
e7bbe8465591
homography and other utils
Nicolas Saunier <nico@confins.net>
parents:
13
diff
changeset
|
550 |
49 | 551 def cumulatedDisplacement(self): |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
552 'Returns the sum of the distances between each successive point' |
49 | 553 displacement = 0 |
554 for i in xrange(self.length()-1): | |
555 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
556 return displacement | |
557 | |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
558 def similarOrientation(self, refDirection, cosineThreshold, minProportion = 0.5): |
387cc0142211
script to replay event annotations
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parents:
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diff
changeset
|
559 '''Indicates whether the minProportion (<=1.) (eg half) of the trajectory elements (vectors for velocity) |
378
3805b9639647
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parents:
377
diff
changeset
|
560 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
|
561 count = 0 |
383
0ce2210790b1
fixed stupid naming bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
381
diff
changeset
|
562 lengthThreshold = float(self.length())*minProportion |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
563 for p in self: |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
564 if p.similarOrientation(refDirection, cosineThreshold): |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
565 count += 1 |
381
387cc0142211
script to replay event annotations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
379
diff
changeset
|
566 if count > lengthThreshold: |
378
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
567 return True |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
568 return False |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
569 |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
570 |
49 | 571 def wiggliness(self): |
572 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
573 | |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
574 def getIntersections(self, p1, p2): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
575 '''Returns a list of the indices at which the trajectory |
91
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
576 intersects with the segment of extremities p1 and p2 |
daa05fae1a70
modified the type of the result of interval lengths to float, added comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
90
diff
changeset
|
577 the list is empty if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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79
diff
changeset
|
578 indices = [] |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
579 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
580 for i in xrange(self.length()-1): |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
581 q1=self.__getitem__(i) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
582 q2=self.__getitem__(i+1) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
583 p = utils.segmentIntersection(q1, q2, p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
584 if p: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
585 if q1.x != q2.x: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
586 ratio = (p.x-q1.x)/(q2.x-q1.x) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
587 elif q1.y != q2.y: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
588 ratio = (p.y-q1.y)/(q2.y-q1.y) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
589 else: |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
590 ratio = 0 |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
591 indices.append(i+ratio) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
592 return indices |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
593 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
594 def getTrajectoryInInterval(self, inter): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
595 if inter.first >=0 and inter.last<= self.length(): |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
596 return Trajectory([self.positions[0][inter.first:inter.last], |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
597 self.positions[1][inter.first:inter.last]]) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
598 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
599 return None |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
600 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
601 def getTrajectoryInPolygonNoShapely(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
602 '''Returns the trajectory built with the set of points inside the polygon |
92
a5ef9e40688e
makes use of matplotlib function to test if point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
91
diff
changeset
|
603 (array of Nx2 coordinates of the polygon vertices)''' |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
108
diff
changeset
|
604 traj = 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
|
605 for p in self: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
606 if p.inPolygonNoShapely(polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
607 traj.addPosition(p) |
113
606010d1d9a4
corrected errors in trajectories (if empty) and getTrajectoryInPolygon
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parents:
108
diff
changeset
|
608 return traj |
79
5d487f183fe2
added method to test points in polygons and tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
74
diff
changeset
|
609 |
372
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
610 if shapelyAvailable: |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
369
diff
changeset
|
611 def getTrajectoryInPolygon(self, polygon): |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
369
diff
changeset
|
612 '''Returns the trajectory built with the set of points inside the (shapely) polygon''' |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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parents:
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diff
changeset
|
613 traj = Trajectory() |
349eb1e09f45
Cleaned the methods/functions indicating if a point is in a polygon
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|
614 points = [p.asShapely() for p in self] |
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Cleaned the methods/functions indicating if a point is in a polygon
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diff
changeset
|
615 for p in pointsInPolygon(points, polygon): |
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|
616 traj.addPositionXY(p.x, p.y) |
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diff
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|
617 return traj |
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diff
changeset
|
618 |
284
f2cf16ad798f
added LCSS for trajectories
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diff
changeset
|
619 @staticmethod |
369
027e254f0b53
lcss subclass for indicators
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diff
changeset
|
620 def lcss(t1, t2, lcss): |
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lcss subclass for indicators
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diff
changeset
|
621 return lcss.compute(t1, t2) |
284
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added LCSS for trajectories
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diff
changeset
|
622 |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
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diff
changeset
|
623 class CurvilinearTrajectory(Trajectory): |
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diff
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|
624 '''Sub class of trajectory for trajectories with curvilinear coordinates and lane assignements |
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diff
changeset
|
625 longitudinal coordinate is stored as first coordinate (exterior name S) |
42f2b46ec210
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diff
changeset
|
626 lateral coordiante is stored as second coordinate''' |
42f2b46ec210
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diff
changeset
|
627 |
42f2b46ec210
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diff
changeset
|
628 def __init__(self, S = [], Y = [], lanes = []): |
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diff
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|
629 self.positions = [S,Y] |
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diff
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|
630 self.lanes = lanes |
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diff
changeset
|
631 |
42f2b46ec210
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diff
changeset
|
632 def __getitem__(self,i): |
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633 return [self.positions[0][i], self.positions[1][i], self.lanes[i]] |
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|
634 |
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diff
changeset
|
635 def getSCoordinates(self): |
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diff
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|
636 return self.getXCoordinates() |
42f2b46ec210
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diff
changeset
|
637 |
42f2b46ec210
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diff
changeset
|
638 def getLanes(self): |
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diff
changeset
|
639 return self.lanes |
42f2b46ec210
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diff
changeset
|
640 |
42f2b46ec210
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diff
changeset
|
641 def addPosition(self, s, y, lane): |
42f2b46ec210
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diff
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|
642 self.addPositionXY(s,y) |
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diff
changeset
|
643 self.lanes.append(lane) |
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diff
changeset
|
644 |
42f2b46ec210
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diff
changeset
|
645 def setPosition(self, i, s, y, lane): |
42f2b46ec210
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diff
changeset
|
646 self.setPositionXY(i, s, y) |
42f2b46ec210
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diff
changeset
|
647 if i < self.__len__(): |
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diff
changeset
|
648 self.lanes[i] = lane |
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diff
changeset
|
649 |
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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411
diff
changeset
|
650 def getIntersections(self, S1, lane = None): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
651 '''Returns a list of the indices at which the trajectory |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
652 goes past the curvilinear coordinate S1 |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
653 (in provided lane if lane != None) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
654 the list is empty if there is no crossing''' |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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parents:
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diff
changeset
|
655 indices = [] |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
656 for i in xrange(self.length()-1): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
657 q1=self.__getitem__(i) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
658 q2=self.__getitem__(i+1) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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diff
changeset
|
659 if q1[0] <= S1 <= q2[0] and lane == None or (self.lanes[i] == lane and self.lanes[i+1] == lane): |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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parents:
411
diff
changeset
|
660 indices.append(i+(S1-q1[0])/(q2[0]-q1[0])) |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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parents:
411
diff
changeset
|
661 return indices |
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
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parents:
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diff
changeset
|
662 |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
663 ################## |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
664 # Moving Objects |
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parents:
58
diff
changeset
|
665 ################## |
290fceb125d2
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parents:
58
diff
changeset
|
666 |
329
a70c205ebdd9
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diff
changeset
|
667 userTypeNames = ['unknown', |
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diff
changeset
|
668 'car', |
62
290fceb125d2
moved road user types and added plotting for all road users
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parents:
58
diff
changeset
|
669 'pedestrian', |
329
a70c205ebdd9
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327
diff
changeset
|
670 'motorcycle', |
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parents:
327
diff
changeset
|
671 'bicycle', |
185
c06379f25ab8
utilities for user types
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parents:
184
diff
changeset
|
672 'bus', |
62
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
673 'truck'] |
290fceb125d2
moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
58
diff
changeset
|
674 |
185
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
675 userType2Num = utils.inverseEnumeration(userTypeNames) |
c06379f25ab8
utilities for user types
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
184
diff
changeset
|
676 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
677 class MovingObject(STObject): |
288
e0d41c7f53d4
updated class/method descriptions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
284
diff
changeset
|
678 '''Class for moving objects: a spatio-temporal object |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
679 with a trajectory and a geometry (constant volume over time) and a usertype (e.g. road user) coded as a number (see |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
680 ''' |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
681 |
411
31604ef1cad4
added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
383
diff
changeset
|
682 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown']): |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
683 super(MovingObject, self).__init__(num, timeInterval) |
16 | 684 self.positions = positions |
345
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
685 self.velocities = velocities |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
686 self.geometry = geometry |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
687 self.userType = userType |
517
47d9970ee954
added plotting of features with object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
516
diff
changeset
|
688 self.features = [] |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
6
diff
changeset
|
689 # compute bounding polygon from trajectory |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
288
diff
changeset
|
690 |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
691 def getObjectInTimeInterval(self, inter): |
54
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
692 '''Returns a new object extracted from self, |
c354d41ef7cd
corrected code for usertype in movingobject
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
49
diff
changeset
|
693 restricted to time interval inter''' |
290
df58d361f19e
refactoring of Interval and TimeInterval using class methods (intersection, union)
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parents:
288
diff
changeset
|
694 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
|
695 if not intersection.empty(): |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
696 trajectoryInterval = TimeInterval(intersection.first-self.getFirstInstant(), intersection.last-self.getFirstInstant()) |
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
697 obj = MovingObject(self.num, intersection, self.positions.getTrajectoryInInterval(trajectoryInterval), self.geometry, self.userType) |
43
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
698 if self.velocities: |
97
b3a1c26e2f22
corrected getObjectInInterval for MovingObject and timeintervals for TemporalIndicator
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
96
diff
changeset
|
699 obj.velocities = self.velocities.getTrajectoryInInterval(trajectoryInterval) |
43
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
700 return obj |
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
701 else: |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
702 print 'The object does not exist at '+str(inter) |
6d11d9e7ad4e
methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
41
diff
changeset
|
703 return None |
6d11d9e7ad4e
methods for trajectories and objects
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parents:
41
diff
changeset
|
704 |
21
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
705 def length(self): |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
706 return self.timeInterval.length() |
3c4629550f5f
added basic getters for objects
Nicolas Saunier <nico@confins.net>
parents:
19
diff
changeset
|
707 |
38
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
708 def getPositions(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
709 return self.positions |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
710 |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
711 def getVelocities(self): |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
712 return self.velocities |
0d321c23d337
added norm functions for Point and accessor methods for MovingObject
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parents:
30
diff
changeset
|
713 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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327
diff
changeset
|
714 def getUserType(self): |
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327
diff
changeset
|
715 return self.userType |
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added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
716 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
717 def getCurvilinearPositions(self): |
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
718 if hasattr(self, 'curvilinearPositions'): |
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
719 return self.curvilinearPositions |
3950bfe22768
added functions to export trajectories to csv
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parents:
331
diff
changeset
|
720 else: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
721 return None |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
331
diff
changeset
|
722 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
723 def setUserType(self, userType): |
a70c205ebdd9
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parents:
327
diff
changeset
|
724 self.userType = userType |
a70c205ebdd9
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parents:
327
diff
changeset
|
725 |
268
0c0b92f621f6
reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
726 def setFeatures(self, features): |
0c0b92f621f6
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parents:
259
diff
changeset
|
727 self.features = [features[i] for i in self.featureNumbers] |
0c0b92f621f6
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parents:
259
diff
changeset
|
728 |
49 | 729 def getSpeeds(self): |
730 return self.getVelocities().norm() | |
731 | |
38
0d321c23d337
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30
diff
changeset
|
732 def getPositionAt(self, i): |
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parents:
30
diff
changeset
|
733 return self.positions[i] |
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parents:
30
diff
changeset
|
734 |
0d321c23d337
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Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
735 def getVelocityAt(self, i): |
0d321c23d337
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Nicolas Saunier <nico@confins.net>
parents:
30
diff
changeset
|
736 return self.velocities[i] |
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30
diff
changeset
|
737 |
67
ded58c424783
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diff
changeset
|
738 def getPositionAtInstant(self, i): |
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diff
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|
739 return self.positions[i-self.getFirstInstant()] |
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diff
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|
740 |
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diff
changeset
|
741 def getVelocityAtInstant(self, i): |
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diff
changeset
|
742 return self.velocities[i-self.getFirstInstant()] |
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diff
changeset
|
743 |
21
3c4629550f5f
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19
diff
changeset
|
744 def getXCoordinates(self): |
3c4629550f5f
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Nicolas Saunier <nico@confins.net>
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19
diff
changeset
|
745 return self.positions.getXCoordinates() |
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19
diff
changeset
|
746 |
3c4629550f5f
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Nicolas Saunier <nico@confins.net>
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19
diff
changeset
|
747 def getYCoordinates(self): |
3c4629550f5f
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parents:
19
diff
changeset
|
748 return self.positions.getYCoordinates() |
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19
diff
changeset
|
749 |
517
47d9970ee954
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diff
changeset
|
750 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
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diff
changeset
|
751 if withFeatures: |
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diff
changeset
|
752 for f in self.features: |
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diff
changeset
|
753 f.positions.plot('r', True, timeStep, **kwargs) |
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diff
changeset
|
754 self.positions.plot('bx-', True, timeStep, **kwargs) |
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516
diff
changeset
|
755 else: |
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diff
changeset
|
756 self.positions.plot(options, withOrigin, timeStep, **kwargs) |
182
d3f6de6c3918
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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152
diff
changeset
|
757 |
515
727e3c529519
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
758 def plotOnWorldImage(self, nPixelsPerUnitDistance, imageHeight, options = '', withOrigin = False, timeStep = 1, **kwargs): |
727e3c529519
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
759 self.positions.plotOnWorldImage(nPixelsPerUnitDistance, imageHeight, options, withOrigin, timeStep, **kwargs) |
22 | 760 |
248
571ba5ed22e2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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245
diff
changeset
|
761 def play(self, videoFilename, homography = None): |
571ba5ed22e2
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245
diff
changeset
|
762 cvutils.displayTrajectories(videoFilename, [self], homography, self.getFirstInstant(), self.getLastInstant()) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
763 |
378
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diff
changeset
|
764 def speedDiagnostics(self, framerate = 1., display = False): |
377 | 765 from numpy import std |
378
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
766 from scipy.stats import scoreatpercentile |
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parents:
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diff
changeset
|
767 speeds = framerate*self.getSpeeds() |
377 | 768 coef = utils.linearRegression(range(len(speeds)), speeds) |
379 | 769 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 | 770 if display: |
379 | 771 from matplotlib.pyplot import figure, plot, axis |
377 | 772 figure(1) |
515
727e3c529519
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
504
diff
changeset
|
773 self.plot() |
379 | 774 axis('equal') |
377 | 775 figure(2) |
776 plot(list(self.getTimeInterval()), speeds) | |
777 | |
378
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
778 @staticmethod |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
779 def distances(obj1, obj2, instant): |
3805b9639647
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parents:
377
diff
changeset
|
780 from scipy.spatial.distance import cdist |
3805b9639647
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377
diff
changeset
|
781 positions1 = [f.getPositionAtInstant(instant).astuple() for f in obj1.features if f.existsAtInstant(instant)] |
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377
diff
changeset
|
782 positions2 = [f.getPositionAtInstant(instant).astuple() for f in obj2.features if f.existsAtInstant(instant)] |
3805b9639647
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377
diff
changeset
|
783 return cdist(positions1, positions2, metric = 'euclidean') |
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parents:
377
diff
changeset
|
784 |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
785 @staticmethod |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
786 def minDistance(obj1, obj2, instant): |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
787 return MovingObject.distances(obj1, obj2, instant).min() |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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377
diff
changeset
|
788 |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
789 @staticmethod |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
790 def maxDistance(obj1, obj2, instant): |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
791 return MovingObject.distances(obj1, obj2, instant).max() |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
792 |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
793 def maxSize(self): |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
794 '''Returns the max distance between features |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
795 at instant there are the most features''' |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
796 if hasattr(self, 'features'): |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
797 nFeatures = -1 |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
798 tMaxFeatures = 0 |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
799 for t in self.getTimeInterval(): |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
800 n = len([f for f in self.features if f.existsAtInstant(t)]) |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
801 if n > nFeatures: |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
802 nFeatures = n |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
803 tMaxFeatures = t |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
804 return MovingObject.maxDistance(self, self, tMaxFeatures) |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
805 else: |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
806 print('Load features to compute a maximum size') |
3805b9639647
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
807 return None |
3805b9639647
added tests for movement orientation, object size
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
808 |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
809 def getInstantsCrossingLane(self, p1, p2): |
55
88d5ee5ac164
updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
54
diff
changeset
|
810 '''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
|
811 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
|
812 empty list if there is no crossing''' |
83
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
813 indices = self.positions.getIntersections(p1, p2) |
41da2cdcd91c
re-arranged trajectory intersections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
79
diff
changeset
|
814 return [t+self.getFirstInstant() for t in indices] |
27
44689029a86f
updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents:
26
diff
changeset
|
815 |
244
5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
243
diff
changeset
|
816 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): |
243
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
223
diff
changeset
|
817 '''Predicts the position of object at instant+deltaT, |
e0988a8ace0c
started adapting and moving to other modules Mohamed's work
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parents:
223
diff
changeset
|
818 at constant speed''' |
255
13ec22bec5d4
corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
250
diff
changeset
|
819 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
|
820 |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
821 def classifyUserTypeSpeed(self, threshold, statisticsFunc = median, ignoreNInstantsAtEnds = 0): |
345
fa64b2e3a64f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
822 '''Classifies slow and fast road users |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
823 slow: non-motorized -> pedestrians |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
824 fast: motorized -> cars''' |
501
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
825 if ignoreNInstantsAtEnds > 0: |
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
826 speeds = self.velocities.norm()[ignoreNInstantsAtEnds:-ignoreNInstantsAtEnds] |
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
827 else: |
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
828 speeds = self.velocities.norm() |
c81cbd6953fb
update to classify speed to remove data at both ends
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
484
diff
changeset
|
829 if statisticsFunc(speeds) >= threshold: |
345
fa64b2e3a64f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
830 self.setUserType(userType2Num['car']) |
fa64b2e3a64f
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
831 else: |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
832 self.setUserType(userType2Num['pedestrian']) |
fa64b2e3a64f
added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
833 |
520
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
834 def classifyUserTypeHoGSVMAtInstant(self, img, svm, instant, homography, width, height, px = 0.2, py = 0.2, pixelThreshold = 800): |
fd9641cbd24b
added function to classify object at instant from SVM
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parents:
517
diff
changeset
|
835 '''Extract the image box around the object and |
fd9641cbd24b
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parents:
517
diff
changeset
|
836 applies the SVM model on it''' |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
837 from numpy import array |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
838 croppedImg, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, self, instant, homography, width, height, px, py, pixelThreshold) |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
839 if len(croppedImg) > 0: # != [] |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
840 hog = array([cvutils.HOG(croppedImg)], dtype = np.float32) |
fd9641cbd24b
added function to classify object at instant from SVM
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parents:
517
diff
changeset
|
841 return int(svm.predict(hog)) |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
842 else: |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
843 return userType2Num['unknown'] |
fd9641cbd24b
added function to classify object at instant from SVM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
517
diff
changeset
|
844 |
67
ded58c424783
added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
845 @staticmethod |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
846 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
847 'A positive result indicates that the road users are getting closer' |
ded58c424783
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
66
diff
changeset
|
848 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
ded58c424783
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66
diff
changeset
|
849 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
|
850 return Point.dot(deltap, deltav) |
67
ded58c424783
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parents:
66
diff
changeset
|
851 |
ded58c424783
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852 @staticmethod |
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853 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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854 'A positive result indicates that the road users are getting closer' |
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855 return Point.cosine(movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant), #deltap |
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856 movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)) #deltav |
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857 |
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858 def plotRoadUsers(objects, colors): |
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859 '''Colors is a PlottingPropertyValues instance''' |
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860 from matplotlib.pyplot import figure, axis |
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861 figure() |
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862 for obj in objects: |
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863 obj.plot(colors.get(obj.userType)) |
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864 axis('equal') |
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865 |
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866 |
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867 if __name__ == "__main__": |
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868 import doctest |
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869 import unittest |
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870 suite = doctest.DocFileSuite('tests/moving.txt') |
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871 #suite = doctest.DocTestSuite() |
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872 unittest.TextTestRunner().run(suite) |
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873 #doctest.testmod() |
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874 #doctest.testfile("example.txt") |