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comparison python/moving.py @ 949:d6c1c05d11f5

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modified multithreading at the interaction level for safety computations
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 21 Jul 2017 17:52:56 -0400
parents 05d4302bf67e
children 196a1fd498ba
comparison
equal deleted inserted replaced
948:584b9405e494 949:d6c1c05d11f5
3 3
4 import utils, cvutils 4 import utils, cvutils
5 from base import VideoFilenameAddable 5 from base import VideoFilenameAddable
6 6
7 from math import sqrt, atan2, cos, sin 7 from math import sqrt, atan2, cos, sin
8 from numpy import median, array, zeros, hypot, NaN, std, floor, float32, argwhere 8 from numpy import median, array, arange, zeros, ones, hypot, NaN, std, floor, float32, argwhere, minimum
9 from matplotlib.pyplot import plot, text 9 from matplotlib.pyplot import plot, text
10 from scipy.stats import scoreatpercentile 10 from scipy.stats import scoreatpercentile
11 from scipy.spatial.distance import cdist 11 from scipy.spatial.distance import cdist
12 from scipy.signal import savgol_filter 12 from scipy.signal import savgol_filter
13 13
1456 at which the object passes from one side of the segment to the other 1456 at which the object passes from one side of the segment to the other
1457 empty list if there is no crossing''' 1457 empty list if there is no crossing'''
1458 indices, intersections = self.positions.getIntersections(p1, p2) 1458 indices, intersections = self.positions.getIntersections(p1, p2)
1459 return [t+self.getFirstInstant() for t in indices] 1459 return [t+self.getFirstInstant() for t in indices]
1460 1460
1461 def computeTrajectorySimilarities(self, prototypes, lcss):
1462 'Computes the similarities to the prototypes using the LCSS'
1463 if not hasattr(self, 'prototypeSimilarities'):
1464 self.prototypeSimilarities = []
1465 for proto in prototypes:
1466 lcss.similarities(proto.getMovingObject().getPositions().asArray().T, self.getPositions().asArray().T)
1467 similarities = lcss.similarityTable[-1, :-1].astype(float)
1468 self.prototypeSimilarities.append(similarities/minimum(arange(1.,len(similarities)+1), proto.getMovingObject().length()*ones(len(similarities))))
1469
1461 @staticmethod 1470 @staticmethod
1462 def computePET(obj1, obj2, collisionDistanceThreshold): 1471 def computePET(obj1, obj2, collisionDistanceThreshold):
1463 '''Post-encroachment time based on distance threshold 1472 '''Post-encroachment time based on distance threshold
1464 1473
1465 Returns the smallest time difference when the object positions are within collisionDistanceThreshold 1474 Returns the smallest time difference when the object positions are within collisionDistanceThreshold