Mercurial > hg > nsaunier > traffic-intelligence

comparison trafficintelligence/events.py @ 1256:56d0195d043e

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cleaning indicators (no more time interval) and runtimeerror with arccos
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 03 Apr 2024 14:41:20 -0400
parents fe35473acee3
children 39740c4668ac
comparison
equal deleted inserted replaced
1255:c0fe55a6b82f 1256:56d0195d043e
4 4
5 from trafficintelligence import moving, prediction, indicators, utils, cvutils, ml 5 from trafficintelligence import moving, prediction, indicators, utils, cvutils, ml
6 from trafficintelligence.base import VideoFilenameAddable 6 from trafficintelligence.base import VideoFilenameAddable
7 7
8 import numpy as np 8 import numpy as np
9 from matplotlib.pyplot import subplot, figure, ylabel
9 10
10 import multiprocessing 11 import multiprocessing
11 import itertools, logging 12 import itertools, logging
12 13
13 14
166 167
167 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): 168 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
168 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) 169 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
169 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) 170 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
170 171
172 def plotIndicators(self, _indicatorNames = indicatorNames):
173 nrows = int(np.ceil(len(_indicatorNames)/2))
174 ncols = 2
175 #subplot(nrows, 2)
176 for i, indicatorName in enumerate(_indicatorNames):
177 if i==0:
178 ax = subplot(nrows, ncols, i+1)
179 else:
180 subplot(nrows, ncols, i+1, sharex = ax)
181 ind = self.getIndicator(indicatorName)
182 if ind is not None:
183 ind.plot()
184 ylabel(indicatorName)
185
171 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., allUserInstants = False): 186 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., allUserInstants = False):
172 if self.roadUser1 is not None and self.roadUser2 is not None: 187 if self.roadUser1 is not None and self.roadUser2 is not None:
173 if allUserInstants: 188 if allUserInstants:
174 firstFrameNum = min(self.roadUser1.getFirstInstant(), self.roadUser2.getFirstInstant()) 189 firstFrameNum = min(self.roadUser1.getFirstInstant(), self.roadUser2.getFirstInstant())
175 lastFrameNum = max(self.roadUser1.getLastInstant(), self.roadUser2.getLastInstant()) 190 lastFrameNum = max(self.roadUser1.getLastInstant(), self.roadUser2.getLastInstant())
194 v2 = self.roadUser2.getVelocityAtInstant(instant) 209 v2 = self.roadUser2.getVelocityAtInstant(instant)
195 deltav = v2-v1 210 deltav = v2-v1
196 v1Norm = v1.norm2() 211 v1Norm = v1.norm2()
197 v2Norm = v2.norm2() 212 v2Norm = v2.norm2()
198 if v1Norm != 0. and v2Norm != 0.: 213 if v1Norm != 0. and v2Norm != 0.:
199 velocityAngles[instant] = np.arccos(moving.Point.dot(v1, v2)/(v1Norm*v2Norm)) 214 velocityAngles[instant] = np.arccos(max(-1, min(1, moving.Point.dot(v1, v2)/(v1Norm*v2Norm))))
200 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav) 215 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
201 distances[instant] = deltap.norm2() 216 distances[instant] = deltap.norm2()
202 speedDifferentials[instant] = deltav.norm2() 217 speedDifferentials[instant] = deltav.norm2()
203 if collisionCourseDotProducts[instant] > 0: 218 if collisionCourseDotProducts[instant] > 0:
204 interactionInstants.append(instant) 219 interactionInstants.append(instant)
205 if distances[instant] != 0 and speedDifferentials[instant] != 0: 220 if distances[instant] != 0 and speedDifferentials[instant] != 0:
206 collisionCourseAngles[instant] = np.arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])) 221 collisionCourseAngles[instant] = np.arccos(max(-1, min(1, collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])))) # avoid values slightly higher than 1.0
207 222
208 if len(interactionInstants) >= 2: 223 if len(interactionInstants) >= 2:
209 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1]) 224 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1])
210 else: 225 else:
211 self.interactionInterval = moving.TimeInterval() 226 self.interactionInterval = moving.TimeInterval()