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annotate python/events.py @ 610:0dc36203973d

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remove dublicated code for collision/crossing computations
author MohamedGomaa
date Wed, 03 Dec 2014 22:57:08 -0500
parents 84690dfe5560
children 306db0f3c7a2
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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1 #! /usr/bin/env python
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2 '''Libraries for events
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3 Interactions, pedestrian crossing...'''
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4
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5 import numpy as np
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6 from numpy import arccos
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7
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8 import multiprocessing
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9 import itertools
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10
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11 import moving, prediction, indicators, utils
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12 import trajLearning
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13 __metaclass__ = type
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14
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15 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
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16 route=(obj.startRouteID,obj.endRouteID)
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17 if useDestination:
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18 if route not in prototypes.keys():
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19 route= trajLearning.findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
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20 return route
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21
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22 class Interaction(moving.STObject):
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23 '''Class for an interaction between two road users
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24 or a road user and an obstacle
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25
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26 link to the moving objects
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27 contains the indicators in a dictionary with the names as keys
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28 '''
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29
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30 categories = {'Head On': 0,
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31 'rearend': 1,
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32 'side': 2,
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33 'parallel': 3}
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34
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35 indicatorNames = ['Collision Course Dot Product',
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36 'Collision Course Angle',
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37 'Distance',
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38 'Minimum Distance',
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39 'Velocity Angle',
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40 'Speed Differential',
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41 'Collision Probability',
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42 'Time to Collision',
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43 'Probability of Successful Evasive Action',
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44 'predicted Post Encroachment Time']
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45
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46 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)
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47
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48 indicatorShortNames = ['CCDP',
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49 'CCA',
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50 'Dist',
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51 'MinDist',
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52 'VA',
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53 'SD',
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54 'PoC',
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55 'TTC',
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56 'P(SEA)',
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57 'pPET']
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58
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59 indicatorUnits = ['',
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60 'rad',
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61 'm',
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62 'm',
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63 'rad',
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64 'm/s',
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65 '',
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66 's',
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67 '',
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68 '']
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69
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70 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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71 moving.STObject.__init__(self, num, timeInterval)
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72 if timeInterval == None and roadUser1 != None and roadUser2 != None:
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73 self.timeInterval = roadUser1.commonTimeInterval(roadUser2)
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74 self.roadUser1 = roadUser1
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75 self.roadUser2 = roadUser2
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76 if roaduserNum1 != None and roaduserNum2 != None:
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77 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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78 elif roadUser1 != None and roadUser2 != None:
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79 self.roadUserNumbers = set(roadUser1.getNum(), roadUser2.getNum())
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80 else:
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81 self.roadUserNumbers = None
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82 self.categoryNum = categoryNum
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83 self.indicators = {}
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84 self.interactionInterval = None
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85
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86 def getRoadUserNumbers(self):
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87 return self.roadUserNumbers
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88
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89 def getIndicator(self, indicatorName):
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90 return self.indicators.get(indicatorName, None)
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91
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92 def addIndicator(self, indicator):
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93 if indicator:
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94 self.indicators[indicator.name] = indicator
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95
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96 def computeIndicators(self):
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97 '''Computes the collision course cosine only if the cosine is positive'''
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98 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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99 collisionCourseAngles = {}
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100 velocityAngles = {}
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101 distances = {}#[0]*int(self.timeInterval.length())
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102 speedDifferentials = {}
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103 interactionInstants = []
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104 for instant in self.timeInterval:
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105 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
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106 v1 = self.roadUser1.getVelocityAtInstant(instant)
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107 v2 = self.roadUser2.getVelocityAtInstant(instant)
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108 deltav = v2-v1
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109 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
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110 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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111 distances[instant] = deltap.norm2()
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112 speedDifferentials[instant] = deltav.norm2()
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113 if collisionCourseDotProducts[instant] > 0:
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114 interactionInstants.append(instant)
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115 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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116
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117 if len(interactionInstants) >= 2:
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118 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1])
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119 else:
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120 self.interactionInterval = moving.TimeInterval()
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121 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
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122 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
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123 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
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124 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
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125 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))
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126
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127 # if we have features, compute other indicators
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128 if len(self.roadUser1.features) != 0 and len(self.roadUser2.features) != 0:
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129 minDistance={}
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130 for instant in self.timeInterval:
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131 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
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132 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
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133
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134 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,usePrototypes=True,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):
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135 '''Computes all crossing and collision points at each common instant for two road users. '''
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136 self.collisionPoints={}
339
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137 self.crossingZones={}
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138 TTCs = {}
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139 if usePrototypes:
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140 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
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141 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
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142
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143 if timeInterval:
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144 commonTimeInterval = timeInterval
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145 else:
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146 commonTimeInterval = self.timeInterval
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147 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, 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)
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148 for i, cp in self.collisionPoints.iteritems():
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149 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
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150 # add probability of collision, and probability of successful evasive action
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151 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
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152
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153 if computeCZ:
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154 pPETs = {}
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155 for i, cz in self.crossingZones.iteritems():
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156 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
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157 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
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158
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159 def addVideoFilename(self,videoFilename):
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160 self.videoFilename= videoFilename
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161
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162 def addInteractionType(self,interactionType):
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163 ''' interaction types: conflict or collision if they are known'''
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164 self.interactionType= interactionType
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165
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166 def createInteractions(objects, _others = None):
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167 '''Create all interactions of two co-existing road users'''
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168 if _others != None:
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169 others = _others
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170
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171 interactions = []
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172 num = 0
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173 for i in xrange(len(objects)):
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174 if _others == None:
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175 others = objects[:i]
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176 for j in xrange(len(others)):
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177 commonTimeInterval = objects[i].commonTimeInterval(others[j])
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178 if not commonTimeInterval.empty():
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179 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j]))
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180 num += 1
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181 return interactions
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182
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183 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity):
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184 '''Finds exemplar indicator time series for all interactions
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185 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction)
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186
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187 if an indicator profile (time series) is different enough (<minSimilarity),
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188 it will become a new prototype.
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189 Non-prototype interactions will be assigned to an existing prototype'''
430
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190
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191 # sort indicators based on length
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192 indices = range(similarityMatrix.shape[0])
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193 def compare(i, j):
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194 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)):
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195 return -1
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196 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)):
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197 return 0
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198 else:
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199 return 1
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200 indices.sort(compare)
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201 # go through all indicators
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202 prototypeIndices = [indices[0]]
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203 for i in indices[1:]:
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204 if similarityMatrix[i][prototypeIndices].max() < minSimilarity:
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205 prototypeIndices.append(i)
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206
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207 # assignment
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208 labels = [-1]*similarityMatrix.shape[0]
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209 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices]
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210 for i in prototypeIndices:
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211 labels[i] = i
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212 for i in indices:
430
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213 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax()
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214 labels[i] = prototypeIndices[prototypeIndex]
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215
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216 return prototypeIndices, labels
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217
452
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218 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize):
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219 '''Finds exmaple indicator time series (several indicators) for all interactions
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220
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221 if any interaction indicator time series is different enough (<minSimilarity),
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222 it will become a new prototype.
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223 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough'''
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224 pass
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225
292
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226 # TODO:
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227 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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228 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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diff changeset
229 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
320
419f30491a4b renamed fields movingObject to roadUser, etc
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parents: 317
diff changeset
230 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
292
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231 #print pairs.num
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232 # Ignore empty collision points
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233 empty = 1
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234 for i in collisionPoints:
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235 if(collisionPoints[i] != []):
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236 empty = 0
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237 if(empty == 1):
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238 pairs.hasCP = 0
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239 else:
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240 pairs.hasCP = 1
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241 pairs.CP = collisionPoints
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242
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243 # Ignore empty crossing zones
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244 empty = 1
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245 for i in crossingZones:
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246 if(crossingZones[i] != []):
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247 empty = 0
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248 if(empty == 1):
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249 pairs.hasCZ = 0
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250 else:
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251 pairs.hasCZ = 1
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252 pairs.CZ = crossingZones
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253 return pairs
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254
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255 def calculateIndicatorPipe_star(a_b):
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diff changeset
256 """Convert `f([1,2])` to `f(1,2)` call."""
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diff changeset
257 return calculateIndicatorPipe(*a_b)
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258
291
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diff changeset
259 class VehPairs():
293
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260 '''Create a veh-pairs object from objects list'''
291
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diff changeset
261 def __init__(self,objects):
293
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diff changeset
262 self.pairs = createInteractions(objects)
292
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diff changeset
263 self.interactionCount = 0
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264 self.CPcount = 0
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265 self.CZcount = 0
291
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266
292
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diff changeset
267 # Process indicator calculation with support for multi-threading
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268 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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269 if(threads > 1):
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270 pool = multiprocessing.Pool(threads)
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271 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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272 pool.close()
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273 else:
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274 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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275 for j in xrange(len(self.pairs)):
292
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276 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
419f30491a4b renamed fields movingObject to roadUser, etc
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277 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
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278
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279 # Ignore empty collision points
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280 empty = 1
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281 for i in collisionPoints:
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282 if(collisionPoints[i] != []):
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283 empty = 0
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284 if(empty == 1):
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285 self.pairs[j].hasCP = 0
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286 else:
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287 self.pairs[j].hasCP = 1
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288 self.pairs[j].CP = collisionPoints
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289
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290 # Ignore empty crossing zones
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291 empty = 1
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292 for i in crossingZones:
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293 if(crossingZones[i] != []):
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294 empty = 0
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295 if(empty == 1):
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296 self.pairs[j].hasCZ = 0
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297 else:
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298 self.pairs[j].hasCZ = 1
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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299 self.pairs[j].CZ = crossingZones
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300
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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301 for j in self.pairs:
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302 self.interactionCount = self.interactionCount + len(j.CP)
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303 self.CPcount = len(self.getCPlist())
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304 self.Czcount = len(self.getCZlist())
291
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305
292
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306
291
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307 def getPairsWCP(self):
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308 lists = []
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309 for j in self.pairs:
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310 if(j.hasCP):
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311 lists.append(j.num)
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312 return lists
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313
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314 def getPairsWCZ(self):
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315 lists = []
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316 for j in self.pairs:
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317 if(j.hasCZ):
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318 lists.append(j.num)
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319 return lists
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320
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
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parents: 489
diff changeset
321 def getCPlist(self,indicatorThreshold=float('Inf')):
291
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322 lists = []
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323 for j in self.pairs:
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324 if(j.hasCP):
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325 for k in j.CP:
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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326 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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327 lists.append([k,j.CP[k][0]])
291
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328 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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329
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
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parents: 489
diff changeset
330 def getCZlist(self,indicatorThreshold=float('Inf')):
291
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331 lists = []
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332 for j in self.pairs:
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333 if(j.hasCZ):
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334 for k in j.CZ:
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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335 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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336 lists.append([k,j.CZ[k][0]])
291
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337 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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338
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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339 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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340 if(not CPlist):
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341 CPlist = self.getCPlist()
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342 if(not CPlist):
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343 return False
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344 TTC_list = []
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345 for i in CPlist:
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346 TTC_list.append(i[1].indicator)
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347 histo = np.histogram(TTC_list,bins=bins)
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348 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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349 return histo
291
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350
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
351 class Crossing(moving.STObject):
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
352 '''Class for the event of a street crossing
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353
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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354 TODO: detecter passage sur la chaussee
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parents:
diff changeset
355 identifier origines et destination (ou uniquement chaussee dans FOV)
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parents:
diff changeset
356 carac traversee
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parents:
diff changeset
357 detecter proximite veh (retirer si trop similaire simultanement
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parents:
diff changeset
358 carac interaction'''
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parents:
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359
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parents:
diff changeset
360 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
361 moving.STObject.__init__(self, num, timeInterval)
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
362 self.roaduserNum = roaduserNum
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parents:
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363
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
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364
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
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365
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
366 if __name__ == "__main__":
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
367 import doctest
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
368 import unittest
489
000bddf84ad0 corrected bugs in safety analysis
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parents: 487
diff changeset
369 suite = doctest.DocFileSuite('tests/events.txt')
000bddf84ad0 corrected bugs in safety analysis
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parents: 487
diff changeset
370 #suite = doctest.DocTestSuite()
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
371 unittest.TextTestRunner().run(suite)
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parents:
diff changeset
372