repo/traffic-intelligence: python/events.py annotate

annotate python/events.py @ 613:306db0f3c7a2

move 4 functions from trajLearning file

author	MohamedGomaa
date	Thu, 04 Dec 2014 19:07:55 -0500
parents	0dc36203973d
children	dc2d0a0d7fe1

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
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	5 import numpy as np
306 93d851d0d21e bug correction, minor work on indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 299 diff changeset	6 from numpy import arccos
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	7
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	8 import multiprocessing
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	9 import itertools
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	10
341 2f39c4ed0b62 first version of indicator saving to sqlite Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 340 diff changeset	11 import moving, prediction, indicators, utils
56 61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	12 __metaclass__ = type
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	13
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180):
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	15 if i[0] not in noiseEntryNums:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]]
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	17 elif i[1] not in noiseExitNums:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]]
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	19 else:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	20 prototypesRoutes=[x for x in sorted(prototypes.keys())]
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	21 routeSim={}
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	23 for y in prototypesRoutes:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	24 if y in prototypes.keys():
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	25 prototypesIDs=prototypes[y]
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	26 similarity=[]
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	27 for x in prototypesIDs:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	29 similarity.append(s)
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	30 routeSim[y]=max(similarity)
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	31 route=max(routeSim, key=routeSim.get)
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	32 if routeSim[route]>=minSimilarity:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	33 return route
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	34 else:
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	35 return i
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	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 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 610 diff changeset	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
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	44 class Interaction(moving.STObject):
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',
2f39c4ed0b62 first version of indicator saving to sqlite Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 340 diff changeset	64 'Time to Collision',
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
320 419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	92 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	93 moving.STObject.__init__(self, num, timeInterval)
566 07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	94 if timeInterval == None and roadUser1 != None and roadUser2 != None:
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	95 self.timeInterval = roadUser1.commonTimeInterval(roadUser2)
320 419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	96 self.roadUser1 = roadUser1
419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	97 self.roadUser2 = roadUser2
566 07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	98 if roaduserNum1 != None and roaduserNum2 != None:
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	99 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	100 elif roadUser1 != None and roadUser2 != None:
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	101 self.roadUserNumbers = set(roadUser1.getNum(), roadUser2.getNum())
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	102 else:
07b1bd0785cd simplifications to interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 559 diff changeset	103 self.roadUserNumbers = None
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	104 self.categoryNum = categoryNum
294 1f253f218b9f evolution of indicators and their computation in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 293 diff changeset	105 self.indicators = {}
451 cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 436 diff changeset	106 self.interactionInterval = None
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	107
340 1046b7346886 work in progress on storing indicator values Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 339 diff changeset	108 def getRoadUserNumbers(self):
1046b7346886 work in progress on storing indicator values Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 339 diff changeset	109 return self.roadUserNumbers
1046b7346886 work in progress on storing indicator values Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 339 diff changeset	110
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	111 def getIndicator(self, indicatorName):
321 a5e40bd04cf4 rearranged LCSS indicator functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 320 diff changeset	112 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	113
1f253f218b9f evolution of indicators and their computation in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 293 diff changeset	114 def addIndicator(self, indicator):
321 a5e40bd04cf4 rearranged LCSS indicator functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 320 diff changeset	115 if indicator:
a5e40bd04cf4 rearranged LCSS indicator functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 320 diff changeset	116 self.indicators[indicator.name] = indicator
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	117
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	118 def computeIndicators(self):
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	119 '''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	120 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
320 419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	121 collisionCourseAngles = {}
325 6c9c7c956926 added velocity angle in indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 321 diff changeset	122 velocityAngles = {}
294 1f253f218b9f evolution of indicators and their computation in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 293 diff changeset	123 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	124 speedDifferentials = {}
452 c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	125 interactionInstants = []
294 1f253f218b9f evolution of indicators and their computation in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 293 diff changeset	126 for instant in self.timeInterval:
320 419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	127 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	128 v1 = self.roadUser1.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 321 diff changeset	129 v2 = self.roadUser2.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 321 diff changeset	130 deltav = v2-v1
6c9c7c956926 added velocity angle in indicators Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 321 diff changeset	131 velocityAngles[instant] = 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	132 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
317 d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	133 distances[instant] = deltap.norm2()
294 1f253f218b9f evolution of indicators and their computation in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 293 diff changeset	134 speedDifferentials[instant] = deltav.norm2()
452 c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	135 if collisionCourseDotProducts[instant] > 0:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	136 interactionInstants.append(instant)
320 419f30491a4b renamed fields movingObject to roadUser, etc Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 317 diff changeset	137 collisionCourseAngles[instant] = 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	138
452 c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	139 if len(interactionInstants) >= 2:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	140 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	141 else:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	142 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	143 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	144 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 382 diff changeset	145 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 382 diff changeset	146 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	147 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	148
317 d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	149 # if we have features, compute other indicators
559 806df5f61c03 adapted safety-analysis script to use multi-threading Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 558 diff changeset	150 if len(self.roadUser1.features) != 0 and len(self.roadUser2.features) != 0:
317 d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	151 minDistance={}
d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	152 for instant in self.timeInterval:
382 ba813f148ade development for clustering Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 378 diff changeset	153 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
387 91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 382 diff changeset	154 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
317 d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	155
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	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 f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	157 '''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	158 self.collisionPoints={}
339 9c1818a71c9c minor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 338 diff changeset	159 self.crossingZones={}
338 f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	160 TTCs = {}
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	161 if usePrototypes:
0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	162 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	163 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	164
f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	165 if timeInterval:
f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	166 commonTimeInterval = timeInterval
317 d280b881e860 added indicator min distance Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 310 diff changeset	167 else:
338 f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	168 commonTimeInterval = self.timeInterval
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	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)
558 a80ef6931fd8 updated safety-analysis to test multiprocessing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 526 diff changeset	170 for i, cp in self.collisionPoints.iteritems():
a80ef6931fd8 updated safety-analysis to test multiprocessing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 526 diff changeset	171 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
341 2f39c4ed0b62 first version of indicator saving to sqlite Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 340 diff changeset	172 # add probability of collision, and probability of successful evasive action
387 91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 382 diff changeset	173 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
338 f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	174
f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	175 if computeCZ:
f3aceea2afbb first safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 325 diff changeset	176 pPETs = {}
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	177 for i, cz in self.crossingZones.iteritems():
0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	178 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 566 diff changeset	179 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 566 diff changeset	180
310 f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class Mohamed Gomaa parents: 306 diff changeset	181 def addVideoFilename(self,videoFilename):
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class Mohamed Gomaa parents: 306 diff changeset	182 self.videoFilename= videoFilename
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class Mohamed Gomaa parents: 306 diff changeset	183
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class Mohamed Gomaa parents: 306 diff changeset	184 def addInteractionType(self,interactionType):
454 62d05436099d corrected indentation bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 452 diff changeset	185 ''' interaction types: conflict or collision if they are known'''
451 cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 436 diff changeset	186 self.interactionType= interactionType
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 436 diff changeset	187
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	188 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	189 '''Create all interactions of two co-existing road users'''
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 454 diff changeset	190 if _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	191 others = _others
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	192
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	193 interactions = []
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	194 num = 0
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	195 for i in xrange(len(objects)):
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	196 if _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	197 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	198 for j in xrange(len(others)):
489 000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 487 diff changeset	199 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	200 if not commonTimeInterval.empty():
489 000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 487 diff changeset	201 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	202 num += 1
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	203 return interactions
ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	204
430 fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	205 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity):
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	206 '''Finds exemplar indicator time series for all interactions
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	207 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	208
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	209 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	210 it will become a new prototype.
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	211 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	212
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	213 # sort indicators based on length
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	214 indices = range(similarityMatrix.shape[0])
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	215 def compare(i, j):
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	216 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	217 return -1
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	218 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	219 return 0
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	220 else:
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	221 return 1
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	222 indices.sort(compare)
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	223 # go through all indicators
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	224 prototypeIndices = [indices[0]]
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	225 for i in indices[1:]:
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	226 if similarityMatrix[i][prototypeIndices].max() < minSimilarity:
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	227 prototypeIndices.append(i)
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	228
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	229 # assignment
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	230 labels = [-1]*similarityMatrix.shape[0]
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	231 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	232 for i in prototypeIndices:
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	233 labels[i] = i
436 b64ff7fe7b45 corrected clustering bug (in indicator assignment) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 430 diff changeset	234 for i in indices:
430 fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	235 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax()
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	236 labels[i] = prototypeIndices[prototypeIndex]
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	237
fb3654a9127d integrating indicator clustering code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 408 diff changeset	238 return prototypeIndices, labels
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	239
452 c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	240 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	241 '''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	242
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	243 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	244 it will become a new prototype.
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	245 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	246 pass
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 451 diff changeset	247
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	248 # TODO:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	249 #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	250 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	251 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	252 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	253 #print pairs.num
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	254 # Ignore empty collision points
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	255 empty = 1
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	256 for i in collisionPoints:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	257 if(collisionPoints[i] != []):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	258 empty = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	259 if(empty == 1):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	260 pairs.hasCP = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	261 else:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	262 pairs.hasCP = 1
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	263 pairs.CP = collisionPoints
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	264
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	265 # Ignore empty crossing zones
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	266 empty = 1
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	267 for i in crossingZones:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	268 if(crossingZones[i] != []):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	269 empty = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	270 if(empty == 1):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	271 pairs.hasCZ = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	272 else:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	273 pairs.hasCZ = 1
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	274 pairs.CZ = crossingZones
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	275 return pairs
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	276
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	277 def calculateIndicatorPipe_star(a_b):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	278 """Convert `f([1,2])` to `f(1,2)` call."""
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	279 return calculateIndicatorPipe(*a_b)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	280
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	281 class VehPairs():
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	282 '''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	283 def __init__(self,objects):
293 ee3302528cdc rearranged new code by Paul (works now) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 292 diff changeset	284 self.pairs = createInteractions(objects)
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	285 self.interactionCount = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	286 self.CPcount = 0
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	287 self.CZcount = 0
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	288
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	289 # Process indicator calculation with support for multi-threading
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	290 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	291 if(threads > 1):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	292 pool = multiprocessing.Pool(threads)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	293 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	294 pool.close()
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	295 else:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	296 #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	297 for j in xrange(len(self.pairs)):
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	298 #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	299 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	300
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	301 # Ignore empty collision points
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	302 empty = 1
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	303 for i in collisionPoints:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	304 if(collisionPoints[i] != []):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	305 empty = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	306 if(empty == 1):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	307 self.pairs[j].hasCP = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	308 else:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	309 self.pairs[j].hasCP = 1
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	310 self.pairs[j].CP = collisionPoints
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	311
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	312 # Ignore empty crossing zones
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	313 empty = 1
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	314 for i in crossingZones:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	315 if(crossingZones[i] != []):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	316 empty = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	317 if(empty == 1):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	318 self.pairs[j].hasCZ = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	319 else:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	320 self.pairs[j].hasCZ = 1
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	321 self.pairs[j].CZ = crossingZones
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	322
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	323 for j in self.pairs:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	324 self.interactionCount = self.interactionCount + len(j.CP)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	325 self.CPcount = len(self.getCPlist())
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	326 self.Czcount = len(self.getCZlist())
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	327
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	328
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	329 def getPairsWCP(self):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	330 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	331 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	332 if(j.hasCP):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	333 lists.append(j.num)
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	334 return lists
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	335
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	336 def getPairsWCZ(self):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	337 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	338 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	339 if(j.hasCZ):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	340 lists.append(j.num)
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	341 return lists
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	342
526 21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	343 def getCPlist(self,indicatorThreshold=float('Inf')):
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	344 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	345 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	346 if(j.hasCP):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	347 for k in j.CP:
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	348 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	349 lists.append([k,j.CP[k][0]])
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	350 return lists
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	351
526 21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	352 def getCZlist(self,indicatorThreshold=float('Inf')):
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	353 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	354 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	355 if(j.hasCZ):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	356 for k in j.CZ:
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	357 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	358 lists.append([k,j.CZ[k][0]])
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	359 return lists
292 8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	360
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	361 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	362 if(not CPlist):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	363 CPlist = self.getCPlist()
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	364 if(not CPlist):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	365 return False
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	366 TTC_list = []
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	367 for i in CPlist:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	368 TTC_list.append(i[1].indicator)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	369 histo = np.histogram(TTC_list,bins=bins)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	370 histo += (histo[0].astype(float)/np.sum(histo[0]),)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading. Paul@BEAST-III parents: 291 diff changeset	371 return histo
291 9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains Paul@BEAST-III parents: 283 diff changeset	372
59 f955e83da499 developed indicators in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 56 diff changeset	373 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	374 '''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	375
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	376 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	377 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	378 carac traversee
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	379 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	380 carac interaction'''
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	381
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	382 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	383 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	384 self.roaduserNum = roaduserNum
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	385
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	386
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	387
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	388 if __name__ == "__main__":
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	389 import doctest
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	390 import unittest
489 000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 487 diff changeset	391 suite = doctest.DocFileSuite('tests/events.txt')
000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 487 diff changeset	392 #suite = doctest.DocTestSuite()
56 61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	393 unittest.TextTestRunner().run(suite)
61fe73df2d36 created new package, moved Interaction class and created Crossing class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	394

Mercurial Hosting > traffic-intelligence

annotate python/events.py @ 613:306db0f3c7a2