Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 618:1a92d28e2d05
Merge
author | MohamedGomaa |
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date | Wed, 10 Dec 2014 14:35:30 -0500 |
parents | 306db0f3c7a2 |
children | dc2d0a0d7fe1 |
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 __metaclass__ = type |
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13 |
613 | 14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180): |
15 if i[0] not in noiseEntryNums: | |
16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]] | |
17 elif i[1] not in noiseExitNums: | |
18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]] | |
19 else: | |
20 prototypesRoutes=[x for x in sorted(prototypes.keys())] | |
21 routeSim={} | |
22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta) | |
23 for y in prototypesRoutes: | |
24 if y in prototypes.keys(): | |
25 prototypesIDs=prototypes[y] | |
26 similarity=[] | |
27 for x in prototypesIDs: | |
28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions) | |
29 similarity.append(s) | |
30 routeSim[y]=max(similarity) | |
31 route=max(routeSim, key=routeSim.get) | |
32 if routeSim[route]>=minSimilarity: | |
33 return route | |
34 else: | |
35 return i | |
36 | |
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37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True): |
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38 route=(obj.startRouteID,obj.endRouteID) |
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39 if useDestination: |
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40 if route not in prototypes.keys(): |
613 | 41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums) |
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42 return route |
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43 |
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44 class Interaction(moving.STObject): |
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45 '''Class for an interaction between two road users |
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46 or a road user and an obstacle |
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47 |
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48 link to the moving objects |
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49 contains the indicators in a dictionary with the names as keys |
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50 ''' |
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51 |
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52 categories = {'Head On': 0, |
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53 'rearend': 1, |
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54 'side': 2, |
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55 'parallel': 3} |
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56 |
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57 indicatorNames = ['Collision Course Dot Product', |
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58 'Collision Course Angle', |
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59 'Distance', |
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60 'Minimum Distance', |
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61 'Velocity Angle', |
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62 'Speed Differential', |
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63 'Collision Probability', |
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64 'Time to Collision', |
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65 'Probability of Successful Evasive Action', |
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66 'predicted Post Encroachment Time'] |
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67 |
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68 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames) |
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69 |
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70 indicatorShortNames = ['CCDP', |
408
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71 'CCA', |
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72 'Dist', |
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73 'MinDist', |
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74 'VA', |
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75 'SD', |
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76 'PoC', |
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77 'TTC', |
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78 'P(SEA)', |
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79 'pPET'] |
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80 |
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81 indicatorUnits = ['', |
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82 'rad', |
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83 'm', |
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84 'm', |
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85 'rad', |
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86 'm/s', |
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87 '', |
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88 's', |
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89 '', |
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90 ''] |
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91 |
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92 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None): |
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93 moving.STObject.__init__(self, num, timeInterval) |
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94 if timeInterval == None and roadUser1 != None and roadUser2 != None: |
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95 self.timeInterval = roadUser1.commonTimeInterval(roadUser2) |
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96 self.roadUser1 = roadUser1 |
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97 self.roadUser2 = roadUser2 |
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98 if roaduserNum1 != None and roaduserNum2 != None: |
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99 self.roadUserNumbers = set([roaduserNum1, roaduserNum2]) |
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100 elif roadUser1 != None and roadUser2 != None: |
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101 self.roadUserNumbers = set(roadUser1.getNum(), roadUser2.getNum()) |
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102 else: |
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103 self.roadUserNumbers = None |
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104 self.categoryNum = categoryNum |
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105 self.indicators = {} |
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106 self.interactionInterval = None |
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107 |
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108 def getRoadUserNumbers(self): |
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109 return self.roadUserNumbers |
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110 |
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111 def getIndicator(self, indicatorName): |
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112 return self.indicators.get(indicatorName, None) |
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113 |
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114 def addIndicator(self, indicator): |
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115 if indicator: |
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116 self.indicators[indicator.name] = indicator |
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117 |
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118 def computeIndicators(self): |
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119 '''Computes the collision course cosine only if the cosine is positive''' |
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120 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length()) |
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121 collisionCourseAngles = {} |
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122 velocityAngles = {} |
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123 distances = {}#[0]*int(self.timeInterval.length()) |
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124 speedDifferentials = {} |
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125 interactionInstants = [] |
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126 for instant in self.timeInterval: |
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127 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant) |
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128 v1 = self.roadUser1.getVelocityAtInstant(instant) |
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129 v2 = self.roadUser2.getVelocityAtInstant(instant) |
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130 deltav = v2-v1 |
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131 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2())) |
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132 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav) |
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133 distances[instant] = deltap.norm2() |
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134 speedDifferentials[instant] = deltav.norm2() |
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135 if collisionCourseDotProducts[instant] > 0: |
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136 interactionInstants.append(instant) |
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137 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])) |
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138 |
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139 if len(interactionInstants) >= 2: |
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140 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1]) |
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141 else: |
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142 self.interactionInterval = moving.TimeInterval() |
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143 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts)) |
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144 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles)) |
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145 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances)) |
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146 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles)) |
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147 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials)) |
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148 |
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149 # if we have features, compute other indicators |
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150 if len(self.roadUser1.features) != 0 and len(self.roadUser2.features) != 0: |
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151 minDistance={} |
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152 for instant in self.timeInterval: |
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153 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) |
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154 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance)) |
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155 |
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156 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): |
338
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157 '''Computes all crossing and collision points at each common instant for two road users. ''' |
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158 self.collisionPoints={} |
339 | 159 self.crossingZones={} |
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160 TTCs = {} |
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161 if usePrototypes: |
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162 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) |
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163 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) |
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164 |
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165 if timeInterval: |
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166 commonTimeInterval = timeInterval |
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167 else: |
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168 commonTimeInterval = self.timeInterval |
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169 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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170 for i, cp in self.collisionPoints.iteritems(): |
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171 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) |
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172 # add probability of collision, and probability of successful evasive action |
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173 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs)) |
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174 |
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175 if computeCZ: |
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176 pPETs = {} |
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177 for i, cz in self.crossingZones.iteritems(): |
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178 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz) |
607 | 179 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) |
180 | |
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181 def addVideoFilename(self,videoFilename): |
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182 self.videoFilename= videoFilename |
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183 |
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184 def addInteractionType(self,interactionType): |
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185 ''' interaction types: conflict or collision if they are known''' |
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186 self.interactionType= interactionType |
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187 |
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188 def createInteractions(objects, _others = None): |
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189 '''Create all interactions of two co-existing road users''' |
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190 if _others != None: |
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191 others = _others |
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192 |
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193 interactions = [] |
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194 num = 0 |
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195 for i in xrange(len(objects)): |
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196 if _others == None: |
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197 others = objects[:i] |
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198 for j in xrange(len(others)): |
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199 commonTimeInterval = objects[i].commonTimeInterval(others[j]) |
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200 if not commonTimeInterval.empty(): |
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201 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j])) |
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202 num += 1 |
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203 return interactions |
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204 |
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205 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity): |
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206 '''Finds exemplar indicator time series for all interactions |
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207 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction) |
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208 |
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209 if an indicator profile (time series) is different enough (<minSimilarity), |
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210 it will become a new prototype. |
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211 Non-prototype interactions will be assigned to an existing prototype''' |
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212 |
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213 # sort indicators based on length |
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214 indices = range(similarityMatrix.shape[0]) |
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215 def compare(i, j): |
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216 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)): |
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217 return -1 |
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218 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)): |
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219 return 0 |
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220 else: |
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221 return 1 |
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222 indices.sort(compare) |
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223 # go through all indicators |
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224 prototypeIndices = [indices[0]] |
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225 for i in indices[1:]: |
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226 if similarityMatrix[i][prototypeIndices].max() < minSimilarity: |
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227 prototypeIndices.append(i) |
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228 |
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229 # assignment |
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230 labels = [-1]*similarityMatrix.shape[0] |
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231 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices] |
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232 for i in prototypeIndices: |
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233 labels[i] = i |
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234 for i in indices: |
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235 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax() |
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236 labels[i] = prototypeIndices[prototypeIndex] |
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237 |
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238 return prototypeIndices, labels |
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239 |
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240 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize): |
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241 '''Finds exmaple indicator time series (several indicators) for all interactions |
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242 |
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243 if any interaction indicator time series is different enough (<minSimilarity), |
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244 it will become a new prototype. |
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245 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough''' |
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246 pass |
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247 |
292
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248 # TODO: |
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249 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class |
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250 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 |
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251 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): |
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252 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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253 #print pairs.num |
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254 # Ignore empty collision points |
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255 empty = 1 |
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256 for i in collisionPoints: |
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257 if(collisionPoints[i] != []): |
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258 empty = 0 |
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259 if(empty == 1): |
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260 pairs.hasCP = 0 |
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261 else: |
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262 pairs.hasCP = 1 |
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263 pairs.CP = collisionPoints |
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264 |
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265 # Ignore empty crossing zones |
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266 empty = 1 |
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267 for i in crossingZones: |
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268 if(crossingZones[i] != []): |
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269 empty = 0 |
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270 if(empty == 1): |
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271 pairs.hasCZ = 0 |
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272 else: |
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273 pairs.hasCZ = 1 |
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274 pairs.CZ = crossingZones |
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275 return pairs |
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276 |
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277 def calculateIndicatorPipe_star(a_b): |
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278 """Convert `f([1,2])` to `f(1,2)` call.""" |
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279 return calculateIndicatorPipe(*a_b) |
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280 |
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281 class VehPairs(): |
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282 '''Create a veh-pairs object from objects list''' |
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283 def __init__(self,objects): |
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284 self.pairs = createInteractions(objects) |
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285 self.interactionCount = 0 |
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286 self.CPcount = 0 |
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287 self.CZcount = 0 |
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288 |
292
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289 # Process indicator calculation with support for multi-threading |
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290 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): |
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291 if(threads > 1): |
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292 pool = multiprocessing.Pool(threads) |
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293 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam))) |
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294 pool.close() |
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295 else: |
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296 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port |
291
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297 for j in xrange(len(self.pairs)): |
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298 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
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299 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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300 |
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301 # Ignore empty collision points |
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302 empty = 1 |
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303 for i in collisionPoints: |
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304 if(collisionPoints[i] != []): |
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305 empty = 0 |
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306 if(empty == 1): |
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307 self.pairs[j].hasCP = 0 |
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308 else: |
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309 self.pairs[j].hasCP = 1 |
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310 self.pairs[j].CP = collisionPoints |
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311 |
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312 # Ignore empty crossing zones |
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313 empty = 1 |
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314 for i in crossingZones: |
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315 if(crossingZones[i] != []): |
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316 empty = 0 |
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317 if(empty == 1): |
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318 self.pairs[j].hasCZ = 0 |
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319 else: |
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320 self.pairs[j].hasCZ = 1 |
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321 self.pairs[j].CZ = crossingZones |
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322 |
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323 for j in self.pairs: |
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324 self.interactionCount = self.interactionCount + len(j.CP) |
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325 self.CPcount = len(self.getCPlist()) |
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326 self.Czcount = len(self.getCZlist()) |
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327 |
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328 |
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329 def getPairsWCP(self): |
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330 lists = [] |
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331 for j in self.pairs: |
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332 if(j.hasCP): |
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333 lists.append(j.num) |
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334 return lists |
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335 |
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336 def getPairsWCZ(self): |
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337 lists = [] |
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338 for j in self.pairs: |
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339 if(j.hasCZ): |
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340 lists.append(j.num) |
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341 return lists |
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342 |
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343 def getCPlist(self,indicatorThreshold=float('Inf')): |
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344 lists = [] |
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345 for j in self.pairs: |
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346 if(j.hasCP): |
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347 for k in j.CP: |
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348 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
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349 lists.append([k,j.CP[k][0]]) |
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350 return lists |
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351 |
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352 def getCZlist(self,indicatorThreshold=float('Inf')): |
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353 lists = [] |
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354 for j in self.pairs: |
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355 if(j.hasCZ): |
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356 for k in j.CZ: |
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357 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
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358 lists.append([k,j.CZ[k][0]]) |
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359 return lists |
292
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360 |
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361 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
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362 if(not CPlist): |
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363 CPlist = self.getCPlist() |
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364 if(not CPlist): |
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365 return False |
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366 TTC_list = [] |
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367 for i in CPlist: |
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368 TTC_list.append(i[1].indicator) |
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369 histo = np.histogram(TTC_list,bins=bins) |
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370 histo += (histo[0].astype(float)/np.sum(histo[0]),) |
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371 return histo |
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372 |
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373 class Crossing(moving.STObject): |
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374 '''Class for the event of a street crossing |
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375 |
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376 TODO: detecter passage sur la chaussee |
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377 identifier origines et destination (ou uniquement chaussee dans FOV) |
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378 carac traversee |
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379 detecter proximite veh (retirer si trop similaire simultanement |
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380 carac interaction''' |
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381 |
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382 def __init__(self, roaduserNum = None, num = None, timeInterval = None): |
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383 moving.STObject.__init__(self, num, timeInterval) |
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384 self.roaduserNum = roaduserNum |
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385 |
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386 |
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387 |
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388 if __name__ == "__main__": |
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389 import doctest |
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390 import unittest |
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391 suite = doctest.DocFileSuite('tests/events.txt') |
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392 #suite = doctest.DocTestSuite() |
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393 unittest.TextTestRunner().run(suite) |
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394 |