Mercurial > hg > nsaunier > traffic-intelligence

comparison trafficintelligence/moving.py @ 1253:ef68d4ba7dae

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added loading ego vehicle in kitti 2D format and method to plot outline
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 25 Mar 2024 17:05:20 -0400
parents fe35473acee3
children 20a5e1292321
comparison
equal deleted inserted replaced
1252:fe35473acee3 1253:ef68d4ba7dae
1412 2: 'car', 1412 2: 'car',
1413 3: 'motorcycle', 1413 3: 'motorcycle',
1414 5: 'bus', 1414 5: 'bus',
1415 #6: 'train', 1415 #6: 'train',
1416 7: 'truck'} 1416 7: 'truck'}
1417 kitti2Types = {'Car': 1, 'Cyclist': 4, 'Pedestrian': 2, 'Van': 1}
1417 1418
1418 userType2Num = utils.inverseEnumeration(userTypeNames) 1419 userType2Num = utils.inverseEnumeration(userTypeNames)
1419 1420
1420 class CarClassifier: 1421 class CarClassifier:
1421 def predict(self, hog): 1422 def predict(self, hog):
1438 self.velocities = velocities 1439 self.velocities = velocities
1439 self.geometry = geometry 1440 self.geometry = geometry
1440 self.userType = userType 1441 self.userType = userType
1441 self.setNObjects(nObjects) # a feature has None for nObjects 1442 self.setNObjects(nObjects) # a feature has None for nObjects
1442 self.features = features 1443 self.features = features
1444 if features is not None and len(features) > 1:
1445 self.featureNumbers = [f.getNum() for f in features]
1443 # compute bounding polygon from trajectory 1446 # compute bounding polygon from trajectory
1444 1447
1445 @staticmethod 1448 @staticmethod
1446 def croppedTimeInterval(obj, value, after = True): 1449 def croppedTimeInterval(obj, value, after = True):
1447 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant()) 1450 newTimeInterval = TimeInterval(obj.getFirstInstant(), min(value, obj.getLastInstant())) if after else TimeInterval(max(obj.getFirstInstant(), value), obj.getLastInstant())
1817 self.velocities.reset(0,0) 1820 self.velocities.reset(0,0)
1818 if self.hasFeatures(): 1821 if self.hasFeatures():
1819 for f in self.getFeatures(): 1822 for f in self.getFeatures():
1820 f.setStationary() 1823 f.setStationary()
1821 1824
1822 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withIds = False, **kwargs): 1825 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, withOutline = False, withIds = False, **kwargs):
1823 if withIds: 1826 if withIds:
1824 objNum = self.getNum() 1827 objNum = self.getNum()
1825 else: 1828 else:
1826 objNum = None 1829 objNum = None
1827 if withFeatures and self.hasFeatures(): 1830 if (withFeatures or withOutline) and self.hasFeatures():
1828 for f in self.getFeatures(): 1831 if withOutline:
1829 f.positions.plot('r', True, timeStep, **kwargs) 1832 for t in self.getTimeInterval():
1830 self.positions.plot('bx-', True, timeStep, objNum, **kwargs) 1833 if t%timeStep == 0:
1834 self.plotOutlineAtInstant(t, cvutils.colors[self.getNum()%len(cvutils.colors)]+'-')
1835 self.positions.plot(cvutils.colors[self.getNum()%len(cvutils.colors)]+'-', withOrigin, timeStep, objNum, **kwargs)
1836 else:
1837 for f in self.getFeatures():
1838 f.positions.plot('r', True, timeStep, **kwargs)
1839 self.positions.plot('bx-', True, timeStep, objNum, **kwargs)
1831 else: 1840 else:
1832 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs) 1841 self.positions.plot(options, withOrigin, timeStep, objNum, **kwargs)
1833 1842
1834 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs): 1843 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, withIds = False, **kwargs):
1835 if withIds: 1844 if withIds: