Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 705:0ceee3b1a96d dev
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Wed, 22 Jul 2015 13:46:28 -0400 |
| parents | 957126bfb456 |
| children | e395bffe1412 |
| rev | line source |
|---|---|
|
56
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
1 #! /usr/bin/env python |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
2 '''Libraries for events |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
3 Interactions, pedestrian crossing...''' |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
4 |
|
665
15e244d2a1b5
corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
5 import moving, prediction, indicators, utils, cvutils |
|
15e244d2a1b5
corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
6 from base import VideoFilenameAddable |
|
15e244d2a1b5
corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
7 |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
8 import numpy as np |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
9 |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
10 import multiprocessing |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
11 import itertools |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
12 |
|
56
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
13 |
| 613 | 14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180): |
|
619
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
15 if i[0] not in noiseEntryNums: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]] |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
17 elif i[1] not in noiseExitNums: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]] |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
19 else: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
20 prototypesRoutes=[x for x in sorted(prototypes.keys())] |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
21 routeSim={} |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta) |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
23 for y in prototypesRoutes: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
24 if y in prototypes.keys(): |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
25 prototypesIDs=prototypes[y] |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
26 similarity=[] |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
27 for x in prototypesIDs: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions) |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
29 similarity.append(s) |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
30 routeSim[y]=max(similarity) |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
31 route=max(routeSim, key=routeSim.get) |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
32 if routeSim[route]>=minSimilarity: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
33 return route |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
34 else: |
|
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
35 return i |
| 613 | 36 |
|
610
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True): |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
38 route=(obj.startRouteID,obj.endRouteID) |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
39 if useDestination: |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
40 if route not in prototypes.keys(): |
| 613 | 41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums) |
|
610
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
42 return route |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
43 |
|
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
44 class Interaction(moving.STObject, VideoFilenameAddable): |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
45 '''Class for an interaction between two road users |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
46 or a road user and an obstacle |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
47 |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
48 link to the moving objects |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
49 contains the indicators in a dictionary with the names as keys |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
50 ''' |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
51 |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
52 categories = {'Head On': 0, |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
53 'rearend': 1, |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
54 'side': 2, |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
55 'parallel': 3} |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
56 |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
57 indicatorNames = ['Collision Course Dot Product', |
|
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
58 'Collision Course Angle', |
|
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
59 'Distance', |
|
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
60 'Minimum Distance', |
|
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
61 'Velocity Angle', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
62 'Speed Differential', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
63 'Collision Probability', |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
64 'Time to Collision', # 7 |
|
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
65 'Probability of Successful Evasive Action', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
66 'predicted Post Encroachment Time'] |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
67 |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
68 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames) |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
69 |
|
388
6e0dedd34920
minor name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
387
diff
changeset
|
70 indicatorShortNames = ['CCDP', |
|
408
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
71 'CCA', |
|
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
72 'Dist', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
73 'MinDist', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
74 'VA', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
75 'SD', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
76 'PoC', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
77 'TTC', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
78 'P(SEA)', |
|
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
79 'pPET'] |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
80 |
|
408
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
81 indicatorUnits = ['', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
82 'rad', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
83 'm', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
84 'm', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
85 'rad', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
86 'm/s', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
87 '', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
88 's', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
89 '', |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
90 ''] |
|
365d8dee44f3
last changes for TRB14
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
388
diff
changeset
|
91 |
|
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
694
diff
changeset
|
92 timeIndicators = ['Time to Collision', 'predicted Post Encroachment Time'] |
|
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
694
diff
changeset
|
93 |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
94 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None): |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
95 moving.STObject.__init__(self, num, timeInterval) |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
96 if timeInterval is None and roadUser1 is not None and roadUser2 is not None: |
|
566
07b1bd0785cd
simplifications to interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
559
diff
changeset
|
97 self.timeInterval = roadUser1.commonTimeInterval(roadUser2) |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
98 self.roadUser1 = roadUser1 |
|
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
99 self.roadUser2 = roadUser2 |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
100 if roaduserNum1 is not None and roaduserNum2 is not None: |
|
566
07b1bd0785cd
simplifications to interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
559
diff
changeset
|
101 self.roadUserNumbers = set([roaduserNum1, roaduserNum2]) |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
102 elif roadUser1 is not None and roadUser2 is not None: |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
103 self.roadUserNumbers = set([roadUser1.getNum(), roadUser2.getNum()]) |
|
566
07b1bd0785cd
simplifications to interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
559
diff
changeset
|
104 else: |
|
07b1bd0785cd
simplifications to interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
559
diff
changeset
|
105 self.roadUserNumbers = None |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
106 self.categoryNum = categoryNum |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
107 self.indicators = {} |
|
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
436
diff
changeset
|
108 self.interactionInterval = None |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
109 # list for collison points and crossing zones |
|
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
110 self.collisionPoints = None |
|
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
111 self.crossingZones = None |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
112 |
|
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
113 def getRoadUserNumbers(self): |
|
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
114 return self.roadUserNumbers |
|
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
339
diff
changeset
|
115 |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
116 def setRoadUsers(self, objects): |
|
694
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
117 nums = sorted(list(self.getRoadUserNumbers())) |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
118 if nums[0]<len(objects) and objects[nums[0]].getNum() == nums[0]: |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
119 self.roadUser1 = objects[nums[0]] |
|
694
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
120 if nums[1]<len(objects) and objects[nums[1]].getNum() == nums[1]: |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
121 self.roadUser2 = objects[nums[1]] |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
122 |
|
694
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
123 if self.roadUser1 is None or self.roadUser2 is None: |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
124 self.roadUser1 = None |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
125 self.roadUser2 = None |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
126 i = 0 |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
127 while i < len(objects) and self.roadUser2 is None: |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
128 if objects[i].getNum() in nums: |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
129 if self.roadUser1 is None: |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
130 self.roadUser1 = objects[i] |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
131 else: |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
132 self.roadUser2 = objects[i] |
|
c4363aa6f0e5
updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
692
diff
changeset
|
133 i += 1 |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
134 |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
135 def getIndicator(self, indicatorName): |
|
321
a5e40bd04cf4
rearranged LCSS indicator functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
320
diff
changeset
|
136 return self.indicators.get(indicatorName, None) |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
137 |
|
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
138 def addIndicator(self, indicator): |
|
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
139 if indicator is not None: |
|
321
a5e40bd04cf4
rearranged LCSS indicator functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
320
diff
changeset
|
140 self.indicators[indicator.name] = indicator |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
141 |
|
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
142 def getIndicatorValueAtInstant(self, indicatorName, instant): |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
143 indicator = self.getIndicator(indicatorName) |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
144 if indicator is not None: |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
145 return indicator[instant] |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
146 else: |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
147 return None |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
148 |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
149 def getIndicatorValuesAtInstant(self, instant): |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
150 '''Returns list of indicator values at instant |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
151 as dict (with keys from indicators dict)''' |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
152 values = {} |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
153 for k, indicator in self.indicators.iteritems(): |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
154 values[k] = indicator[instant] |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
155 return values |
|
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
156 |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
157 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
158 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
159 self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
160 |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
161 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs): |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
162 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
163 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
164 |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
165 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.): |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
166 if self.roadUser1 is not None and self.roadUser2 is not None: |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
167 cvutils.displayTrajectories(videoFilename, [self.roadUser1, self.roadUser2], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication) |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
168 else: |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
169 print('Please set the interaction road user attributes roadUser1 and roadUser1 through the method setRoadUsers') |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
170 |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
171 def computeIndicators(self): |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
172 '''Computes the collision course cosine only if the cosine is positive''' |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
173 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length()) |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
174 collisionCourseAngles = {} |
|
325
6c9c7c956926
added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
321
diff
changeset
|
175 velocityAngles = {} |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
176 distances = {}#[0]*int(self.timeInterval.length()) |
|
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
177 speedDifferentials = {} |
|
452
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
178 interactionInstants = [] |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
179 for instant in self.timeInterval: |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
180 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant) |
|
325
6c9c7c956926
added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
321
diff
changeset
|
181 v1 = self.roadUser1.getVelocityAtInstant(instant) |
|
6c9c7c956926
added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
321
diff
changeset
|
182 v2 = self.roadUser2.getVelocityAtInstant(instant) |
|
6c9c7c956926
added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
321
diff
changeset
|
183 deltav = v2-v1 |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
184 velocityAngles[instant] = np.arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2())) |
|
299
7e5fb4abd070
renaming event to events and correcting errors in indicator computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
294
diff
changeset
|
185 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav) |
|
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
310
diff
changeset
|
186 distances[instant] = deltap.norm2() |
|
294
1f253f218b9f
evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
293
diff
changeset
|
187 speedDifferentials[instant] = deltav.norm2() |
|
452
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
188 if collisionCourseDotProducts[instant] > 0: |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
189 interactionInstants.append(instant) |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
190 if distances[instant] != 0 and speedDifferentials[instant] != 0: |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
191 collisionCourseAngles[instant] = np.arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])) |
|
306
93d851d0d21e
bug correction, minor work on indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
299
diff
changeset
|
192 |
|
452
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
193 if len(interactionInstants) >= 2: |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
194 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1]) |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
195 else: |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
196 self.interactionInterval = moving.TimeInterval() |
|
387
91679eb2ff2c
cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
197 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts)) |
|
91679eb2ff2c
cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
198 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles)) |
|
691
fa9aa5f08210
cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
199 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances, mostSevereIsMax = False)) |
|
387
91679eb2ff2c
cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
200 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles)) |
|
91679eb2ff2c
cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
201 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials)) |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
202 |
|
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
310
diff
changeset
|
203 # if we have features, compute other indicators |
|
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
204 if self.roadUser1.hasFeatures() and self.roadUser2.hasFeatures(): |
|
691
fa9aa5f08210
cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
205 minDistances={} |
|
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
310
diff
changeset
|
206 for instant in self.timeInterval: |
|
691
fa9aa5f08210
cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
207 minDistances[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) |
|
fa9aa5f08210
cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
208 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistances, mostSevereIsMax = False)) |
|
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
310
diff
changeset
|
209 |
|
627
82e9f78a4714
added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
210 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1, usePrototypes=False, route1= (-1,-1), route2=(-1,-1), prototypes={}, secondStepPrototypes={}, nMatching={}, objects=[], noiseEntryNums=[], noiseExitNums=[], minSimilarity=0.1, mostMatched=None, useDestination=True, useSpeedPrototype=True, acceptPartialLength=30, step=1): |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
211 '''Computes all crossing and collision points at each common instant for two road users. ''' |
|
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
212 TTCs = {} |
|
610
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
213 if usePrototypes: |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
214 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
215 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
216 |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
217 if timeInterval is not None: |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
218 commonTimeInterval = timeInterval |
|
317
d280b881e860
added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
310
diff
changeset
|
219 else: |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
220 commonTimeInterval = self.timeInterval |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
221 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step) |
|
558
a80ef6931fd8
updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
222 for i, cp in self.collisionPoints.iteritems(): |
|
a80ef6931fd8
updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
223 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) |
|
692
9a258687af4c
corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
691
diff
changeset
|
224 if len(TTCs) > 0: |
|
9a258687af4c
corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
691
diff
changeset
|
225 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs, mostSevereIsMax=False)) |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
226 |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
227 # crossing zones and pPET |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
228 if computeCZ: |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
229 self.crossingZones = crossingZones |
|
338
f3aceea2afbb
first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
325
diff
changeset
|
230 pPETs = {} |
|
610
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
231 for i, cz in self.crossingZones.iteritems(): |
|
0dc36203973d
remove dublicated code for collision/crossing computations
MohamedGomaa
parents:
607
diff
changeset
|
232 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz) |
|
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
233 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False)) |
|
662
72174e66aba5
corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
661
diff
changeset
|
234 # TODO add probability of collision, and probability of successful evasive action |
|
631
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
235 |
|
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
236 def computePET(self, collisionDistanceThreshold): |
|
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
237 # TODO add crossing zone |
|
2d1d33ae1c69
major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
630
diff
changeset
|
238 self.pet = moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold) |
|
619
dc2d0a0d7fe1
merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
613
diff
changeset
|
239 |
|
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
240 def setCollision(self, collision): |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
241 '''indicates if it is a collision: argument should be boolean''' |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
242 self.collision = collision |
|
310
f7ca78a11ea6
add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents:
306
diff
changeset
|
243 |
|
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
244 def isCollision(self): |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
245 if hasattr(self, 'collision'): |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
246 return self.collision |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
247 else: |
|
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
662
diff
changeset
|
248 return None |
|
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
249 |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
250 def getCollisionPoints(self): |
|
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
251 return self.collisionPoints |
|
661
dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
252 |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
253 def getCrossingZones(self): |
|
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
254 return self.crossingZones |
|
451
cd342a774806
Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
436
diff
changeset
|
255 |
|
487
e04b22ce2fcd
generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
454
diff
changeset
|
256 def createInteractions(objects, _others = None): |
|
e04b22ce2fcd
generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
454
diff
changeset
|
257 '''Create all interactions of two co-existing road users''' |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
258 if _others is not None: |
|
487
e04b22ce2fcd
generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
454
diff
changeset
|
259 others = _others |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
260 |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
261 interactions = [] |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
262 num = 0 |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
263 for i in xrange(len(objects)): |
|
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
632
diff
changeset
|
264 if _others is None: |
|
487
e04b22ce2fcd
generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
454
diff
changeset
|
265 others = objects[:i] |
|
e04b22ce2fcd
generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
454
diff
changeset
|
266 for j in xrange(len(others)): |
|
489
000bddf84ad0
corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
487
diff
changeset
|
267 commonTimeInterval = objects[i].commonTimeInterval(others[j]) |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
268 if not commonTimeInterval.empty(): |
|
489
000bddf84ad0
corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
487
diff
changeset
|
269 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j])) |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
270 num += 1 |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
271 return interactions |
|
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
272 |
|
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
273 def findInteraction(interactions, roadUserNum1, roadUserNum2): |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
274 'Returns the right interaction in the set' |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
275 i=0 |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
276 while i<len(interactions) and set([roadUserNum1, roadUserNum2]) != interactions[i].getRoadUserNumbers(): |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
277 i+=1 |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
278 if i<len(interactions): |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
279 return interactions[i] |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
280 else: |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
281 return None |
|
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
627
diff
changeset
|
282 |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
283 def aggregateSafetyPoints(interactions, pointType = 'collision'): |
|
632
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
284 '''Put all collision points or crossing zones in a list for display''' |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
285 allPoints = [] |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
286 if pointType == 'collision': |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
287 for i in interactions: |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
288 for points in i.collisionPoints.values(): |
|
632
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
289 allPoints += points |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
290 elif pointType == 'crossing': |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
291 for i in interactions: |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
292 for points in i.crossingZones.values(): |
|
632
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
293 allPoints += points |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
294 else: |
|
705
0ceee3b1a96d
cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
295 print('unknown type of point: '+pointType) |
|
632
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
296 return allPoints |
|
2f1a583bfd20
added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
631
diff
changeset
|
297 |
|
430
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
298 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity): |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
299 '''Finds exemplar indicator time series for all interactions |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
300 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction) |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
301 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
302 if an indicator profile (time series) is different enough (<minSimilarity), |
|
452
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
303 it will become a new prototype. |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
304 Non-prototype interactions will be assigned to an existing prototype''' |
|
430
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
305 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
306 # sort indicators based on length |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
307 indices = range(similarityMatrix.shape[0]) |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
308 def compare(i, j): |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
309 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)): |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
310 return -1 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
311 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)): |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
312 return 0 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
313 else: |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
314 return 1 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
315 indices.sort(compare) |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
316 # go through all indicators |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
317 prototypeIndices = [indices[0]] |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
318 for i in indices[1:]: |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
319 if similarityMatrix[i][prototypeIndices].max() < minSimilarity: |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
320 prototypeIndices.append(i) |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
321 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
322 # assignment |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
323 labels = [-1]*similarityMatrix.shape[0] |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
324 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices] |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
325 for i in prototypeIndices: |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
326 labels[i] = i |
|
436
b64ff7fe7b45
corrected clustering bug (in indicator assignment)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
430
diff
changeset
|
327 for i in indices: |
|
430
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
328 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax() |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
329 labels[i] = prototypeIndices[prototypeIndex] |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
330 |
|
fb3654a9127d
integrating indicator clustering code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
408
diff
changeset
|
331 return prototypeIndices, labels |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
332 |
|
452
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
333 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize): |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
334 '''Finds exmaple indicator time series (several indicators) for all interactions |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
335 |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
336 if any interaction indicator time series is different enough (<minSimilarity), |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
337 it will become a new prototype. |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
338 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough''' |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
339 pass |
|
c59a47ce0209
reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
451
diff
changeset
|
340 |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
341 # TODO: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
342 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
343 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
344 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
345 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
346 #print pairs.num |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
347 # Ignore empty collision points |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
348 empty = 1 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
349 for i in collisionPoints: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
350 if(collisionPoints[i] != []): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
351 empty = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
352 if(empty == 1): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
353 pairs.hasCP = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
354 else: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
355 pairs.hasCP = 1 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
356 pairs.CP = collisionPoints |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
357 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
358 # Ignore empty crossing zones |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
359 empty = 1 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
360 for i in crossingZones: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
361 if(crossingZones[i] != []): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
362 empty = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
363 if(empty == 1): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
364 pairs.hasCZ = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
365 else: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
366 pairs.hasCZ = 1 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
367 pairs.CZ = crossingZones |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
368 return pairs |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
369 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
370 def calculateIndicatorPipe_star(a_b): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
371 """Convert `f([1,2])` to `f(1,2)` call.""" |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
372 return calculateIndicatorPipe(*a_b) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
373 |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
374 class VehPairs(): |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
375 '''Create a veh-pairs object from objects list''' |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
376 def __init__(self,objects): |
|
293
ee3302528cdc
rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
292
diff
changeset
|
377 self.pairs = createInteractions(objects) |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
378 self.interactionCount = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
379 self.CPcount = 0 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
380 self.CZcount = 0 |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
381 |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
382 # Process indicator calculation with support for multi-threading |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
383 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
384 if(threads > 1): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
385 pool = multiprocessing.Pool(threads) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
386 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam))) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
387 pool.close() |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
388 else: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
389 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
390 for j in xrange(len(self.pairs)): |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
391 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
|
320
419f30491a4b
renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
317
diff
changeset
|
392 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
393 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
394 # Ignore empty collision points |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
395 empty = 1 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
396 for i in collisionPoints: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
397 if(collisionPoints[i] != []): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
398 empty = 0 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
399 if(empty == 1): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
400 self.pairs[j].hasCP = 0 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
401 else: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
402 self.pairs[j].hasCP = 1 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
403 self.pairs[j].CP = collisionPoints |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
404 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
405 # Ignore empty crossing zones |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
406 empty = 1 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
407 for i in crossingZones: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
408 if(crossingZones[i] != []): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
409 empty = 0 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
410 if(empty == 1): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
411 self.pairs[j].hasCZ = 0 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
412 else: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
413 self.pairs[j].hasCZ = 1 |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
414 self.pairs[j].CZ = crossingZones |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
415 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
416 for j in self.pairs: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
417 self.interactionCount = self.interactionCount + len(j.CP) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
418 self.CPcount = len(self.getCPlist()) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
419 self.Czcount = len(self.getCZlist()) |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
420 |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
421 |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
422 def getPairsWCP(self): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
423 lists = [] |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
424 for j in self.pairs: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
425 if(j.hasCP): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
426 lists.append(j.num) |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
427 return lists |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
428 |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
429 def getPairsWCZ(self): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
430 lists = [] |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
431 for j in self.pairs: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
432 if(j.hasCZ): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
433 lists.append(j.num) |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
434 return lists |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
435 |
|
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
489
diff
changeset
|
436 def getCPlist(self,indicatorThreshold=float('Inf')): |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
437 lists = [] |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
438 for j in self.pairs: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
439 if(j.hasCP): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
440 for k in j.CP: |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
441 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
442 lists.append([k,j.CP[k][0]]) |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
443 return lists |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
444 |
|
526
21bdeb29f855
corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
489
diff
changeset
|
445 def getCZlist(self,indicatorThreshold=float('Inf')): |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
446 lists = [] |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
447 for j in self.pairs: |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
448 if(j.hasCZ): |
|
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
449 for k in j.CZ: |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
450 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
451 lists.append([k,j.CZ[k][0]]) |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
452 return lists |
|
292
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
453 |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
454 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
455 if(not CPlist): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
456 CPlist = self.getCPlist() |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
457 if(not CPlist): |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
458 return False |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
459 TTC_list = [] |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
460 for i in CPlist: |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
461 TTC_list.append(i[1].indicator) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
462 histo = np.histogram(TTC_list,bins=bins) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
463 histo += (histo[0].astype(float)/np.sum(histo[0]),) |
|
8b2c8a4015f1
class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents:
291
diff
changeset
|
464 return histo |
|
291
9f81218e497a
class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents:
283
diff
changeset
|
465 |
|
59
f955e83da499
developed indicators in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
56
diff
changeset
|
466 class Crossing(moving.STObject): |
|
56
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
467 '''Class for the event of a street crossing |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
468 |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
469 TODO: detecter passage sur la chaussee |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
470 identifier origines et destination (ou uniquement chaussee dans FOV) |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
471 carac traversee |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
472 detecter proximite veh (retirer si trop similaire simultanement |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
473 carac interaction''' |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
474 |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
475 def __init__(self, roaduserNum = None, num = None, timeInterval = None): |
|
59
f955e83da499
developed indicators in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
56
diff
changeset
|
476 moving.STObject.__init__(self, num, timeInterval) |
|
56
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
477 self.roaduserNum = roaduserNum |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
478 |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
479 |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
480 |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
481 if __name__ == "__main__": |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
482 import doctest |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
483 import unittest |
|
489
000bddf84ad0
corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
487
diff
changeset
|
484 suite = doctest.DocFileSuite('tests/events.txt') |
|
000bddf84ad0
corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
487
diff
changeset
|
485 #suite = doctest.DocTestSuite() |
|
56
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
486 unittest.TextTestRunner().run(suite) |
|
61fe73df2d36
created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
487 |