def test_finding_paths():
folder = tempfile.mkdtemp()
s3 = S3('driverpete-storage')
filename = s3.download("_testing/testing_merged_1", folder)
data = filter_gps_data(read_compressed_trajectory(filename))
endpoints = find_endpoints(data)
assert(len(endpoints) == 2)
print(trajectory_point_to_str(data, _get_point_index(data, endpoints[0])))
print(trajectory_point_to_str(data, _get_point_index(data, endpoints[1])))
assert(_get_point_index(data, endpoints[0]) == 479)
assert(_get_point_index(data, endpoints[1]) == 670)
AtoB_paths, BtoA_paths = find_routes(data, endpoints, verbose=False)
AtoB_paths_indices = _extract_indices(data, AtoB_paths)
BtoA_paths_indices = _extract_indices(data, BtoA_paths)
print(AtoB_paths_indices)
print(BtoA_paths_indices)
assert(AtoB_paths_indices == [[488, 656], [947, 1117], [1364, 1549], [2216, 2401], [2630, 2898], [4400, 4526]])
assert(BtoA_paths_indices == [[134, 455], [683, 887], [1141, 1316], [1582, 1783], [2429, 2597], [3975, 4170]])
def process_gps_data(filename):
#stationary_distance_threshold=120
# clean up data
data = read_compressed_trajectory(filename)
print("Length of data: %d" % len(data))
data = filter_gps_data(data)
print("Length of filtered data: %d" % len(data))
endpoints = find_endpoints(data)
print("Found %d endpoints:" % len(endpoints))
for u in endpoints:
print(trajectory_point_to_str([u], 0))
assert(len(endpoints) == 2)
AtoB_paths_data, BtoA_paths_data = find_routes(data, endpoints, verbose=False)
def _extract_indices(data, paths):
result = []
for p in paths:
indices = [(data[:, 0] == p[0, 0]).nonzero()[0][0],
(data[:, 0] == p[p.shape[0]-1, 0]).nonzero()[0][0]]
result.append(indices)
return result
AtoB_paths_indices = _extract_indices(data, AtoB_paths_data)
BtoA_paths_indices = _extract_indices(data, BtoA_paths_data)
print(AtoB_paths_indices)
print(BtoA_paths_indices)
AtoB_paths = [Path(d) for d in AtoB_paths_data]
BtoA_paths = [Path(d) for d in BtoA_paths_data]
AtoB_paths = sorted(AtoB_paths, key=lambda x: x.get_duration())
BtoA_paths = sorted(BtoA_paths, key=lambda x: x.get_duration())
print("ATOB")
for p in AtoB_paths:
print(p.get_duration()/60, str(p.start_time()))
p.show(str(p.get_duration()/60))
print("BTOA")
for p in BtoA_paths:
print(p.get_duration()/60, str(p.start_time()))
p.show(str(p.get_duration()/60))
def process(self, point):
if self._from_endpoint_index is None:
index = self._get_closest_endpoint_index(point)
if index is not None:
self._start_route(point, index)
return
else:
dt = delta_float_time(self._current_route[-1][0], point[0])
if dt > self._continuity_threshold:
if self._verbose:
dist = distance(point, self._endpoints[self._from_endpoint_index])
print('Continuity ruined from %s\n to %s\n dt=%smin, dist=%s' %
(trajectory_point_to_str([self._current_route[-1]], 0),
trajectory_point_to_str([point], 0),
dt/60., dist))
index = self._get_closest_endpoint_index(point)
if index == self._from_endpoint_index:
if self._verbose:
print(' !BUT Didnt move too far from beginning though')
self._stop_route()
self._start_route(point, index)
else:
self._stop_route()
return
self._current_route.append(point)
index = self._get_closest_endpoint_index(point)
if index == self._from_endpoint_index:
if self._verbose:
print('made a loop or didnt move')
self._stop_route()
self._start_route(point, index)
elif index == self._to_endpoint_index():
if self._from_endpoint_index == 0:
self._AtoB_routes.append(np.array(self._current_route))
if self._verbose:
print('A to B found: %s TO %s' %
(trajectory_point_to_str(self._current_route, 0),
trajectory_point_to_str(self._current_route, len(self._current_route)-1)))
self._stop_route()
else:
self._BtoA_routes.append(np.array(self._current_route))
if self._verbose:
print('B to A found: %s TO %s' %
(trajectory_point_to_str(self._current_route, 0),
trajectory_point_to_str(self._current_route, len(self._current_route)-1)))
self._stop_route()
def _start_route(self, point, endpoint_index):
assert(endpoint_index is not None)
self._from_endpoint_index = endpoint_index
self._current_route.append(point)
if self._verbose:
print('Starting route from %s' % trajectory_point_to_str([point], 0))
def test_finding_paths_with_state_2():
folder = tempfile.mkdtemp()
s3 = S3('driverpete-storage')
pieces = []
pieces_keys = [
"_testing/testing_sequence0/data/14-09-2015_09-15-01_PDT",
"_testing/testing_sequence0/data/14-09-2015_11-03-24_PDT",
"_testing/testing_sequence0/data/14-09-2015_13-49-55_PDT",
"_testing/testing_sequence0/data/14-09-2015_18-20-13_PDT",
"_testing/testing_sequence0/data/14-09-2015_19-59-23_PDT",
"_testing/testing_sequence0/data/15-09-2015_09-32-15_PDT",
"_testing/testing_sequence0/data/15-09-2015_22-31-21_PDT"
]
for k in pieces_keys:
filename = s3.download(k, folder)
pieces.append(read_compressed_trajectory(filename))
filtered_pieces = []
endpoints = []
findendpoints_state = None
filter_state = None
for pi, piece in enumerate(pieces):
vel_filter = VelocityOutliersFilter()
if filter_state is not None:
vel_filter.set_state(filter_state)
filter = FilterChain([DuplicateTimeFilter(),
vel_filter])
filtered_piece = apply_filter(piece, filter)
filter_state = vel_filter.get_state()
filtered_pieces.append(filtered_piece)
finder = FindEndpoints(endpoints=endpoints)
if findendpoints_state is not None:
finder.set_state(findendpoints_state)
for i, d in enumerate(filtered_piece):
finder.process(d)
endpoints = finder.get_endpoints()
findendpoints_state = finder.get_state()
data = np.vstack(filtered_pieces)
print(trajectory_point_to_str(data, _get_point_index(data, endpoints[0])))
print(trajectory_point_to_str(data, _get_point_index(data, endpoints[1])))
assert(len(endpoints) == 2)
assert(_get_point_index(data, endpoints[0]) == 5)
assert(_get_point_index(data, endpoints[1]) == 122)
AtoB_paths = []
BtoA_paths = []
finder_current_route = []
finder_endpoint_index = None
for piece in filtered_pieces:
finder = RoutesFinder(endpoints)
finder.set_state(finder_current_route, finder_endpoint_index)
for d in piece:
finder.process(d)
finder_current_route, finder_endpoint_index = finder.get_state()
AtoB_paths_piece, BtoA_paths_piece = finder.get_routes()
AtoB_paths += AtoB_paths_piece
BtoA_paths += BtoA_paths_piece
AtoB_paths_indices = _extract_indices(data, AtoB_paths)
BtoA_paths_indices = _extract_indices(data, BtoA_paths)
print(AtoB_paths_indices)
print(BtoA_paths_indices)
assert(AtoB_paths_indices == [[11, 111], [556, 730]])
assert(BtoA_paths_indices == [[288, 387]])
