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annotate python/events.py @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 6e0dedd34920
children 365d8dee44f3
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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56
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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
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13 __metaclass__ = type
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14
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15 class Interaction(moving.STObject):
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16 '''Class for an interaction between two road users
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17 or a road user and an obstacle
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18
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19 link to the moving objects
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20 contains the indicators in a dictionary with the names as keys
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21 '''
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22
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23 categories = {'Head On': 0,
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24 'rearend': 1,
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25 'side': 2,
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26 'parallel': 3}
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27
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28 indicatorNames = ['Collision Course Dot Product',
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29 'Collision Course Angle',
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30 'Distance',
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31 'Minimum Distance',
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32 'Velocity Angle',
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33 'Speed Differential',
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34 'Collision Probability',
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35 'Time to Collision',
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36 'Probability of Successful Evasive Action',
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37 'predicted Post Encroachment Time']
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38
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39 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)
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40
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41 indicatorShortNames = ['CCDP',
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42 'CCAng',
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43 'Dist',
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44 'MinDist',
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45 'VA',
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46 'SD',
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47 'PoC',
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48 'TTC',
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49 'P(SEA)',
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50 'pPET']
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51
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52 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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53 moving.STObject.__init__(self, num, timeInterval)
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54 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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55 self.roadUser1 = roadUser1
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56 self.roadUser2 = roadUser2
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57 self.categoryNum = categoryNum
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58 self.indicators = {}
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59
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60 def getRoadUserNumbers(self):
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61 return self.roadUserNumbers
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62
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63 def getIndicator(self, indicatorName):
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64 return self.indicators.get(indicatorName, None)
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65
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66 def addIndicator(self, indicator):
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67 if indicator:
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68 self.indicators[indicator.name] = indicator
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69
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70 def computeIndicators(self):
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71 '''Computes the collision course cosine only if the cosine is positive'''
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72 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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73 collisionCourseAngles = {}
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74 velocityAngles = {}
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75 distances = {}#[0]*int(self.timeInterval.length())
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76 speedDifferentials = {}
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77 for instant in self.timeInterval:
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78 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
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79 v1 = self.roadUser1.getVelocityAtInstant(instant)
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80 v2 = self.roadUser2.getVelocityAtInstant(instant)
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81 deltav = v2-v1
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82 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
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83 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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84 distances[instant] = deltap.norm2()
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85 speedDifferentials[instant] = deltav.norm2()
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86 #if collisionCourseDotProducts[instant] > 0:
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87 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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88
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89 # todo shorten the time intervals based on the interaction definition
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90 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
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91 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
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92 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
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93 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
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94 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))
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95
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96 # todo test for interaction instants and interval, compute indicators
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97
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98 # if we have features, compute other indicators
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99 if self.roadUser1.features != None and self.roadUser2.features != None:
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100 minDistance={}
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101 for instant in self.timeInterval:
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102 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
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103 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
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104
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105 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
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106 '''Computes all crossing and collision points at each common instant for two road users. '''
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107 self.collisionPoints={}
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108 self.crossingZones={}
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109 TTCs = {}
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110
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111 if timeInterval:
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112 commonTimeInterval = timeInterval
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113 else:
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114 commonTimeInterval = self.timeInterval
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115 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
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116 self.collisionPoints[i], self.crossingZones[i] = predictionParameters.computeCrossingsCollisionsAtInstant(i, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
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117 if len(self.collisionPoints[i]) > 0:
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118 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i])
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119 # add probability of collision, and probability of successful evasive action
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120 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
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121
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122 if computeCZ:
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123 pPETs = {}
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124 for i in list(commonTimeInterval)[:-1]:
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125 if len(self.crossingZones[i]) > 0:
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126 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
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diff changeset
127 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
317
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128
310
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129 def addVideoFilename(self,videoFilename):
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130 self.videoFilename= videoFilename
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131
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132 def addInteractionType(self,interactionType):
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133 ''' interaction types: conflict or collision if they are known'''
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134 self.interactionType= interactionType
293
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135
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136 def createInteractions(objects):
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137 '''Create all interactions of two co-existing road users
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138
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139 todo add test to compute categories?'''
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140 interactions = []
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141 num = 0
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142 for i in xrange(len(objects)):
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143 for j in xrange(i):
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144 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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145 if not commonTimeInterval.empty():
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146 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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147 num += 1
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148 return interactions
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149
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150
292
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151 # TODO:
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152 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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153 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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154 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
320
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155 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
292
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156 #print pairs.num
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157 # Ignore empty collision points
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158 empty = 1
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159 for i in collisionPoints:
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160 if(collisionPoints[i] != []):
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161 empty = 0
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162 if(empty == 1):
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163 pairs.hasCP = 0
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164 else:
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165 pairs.hasCP = 1
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166 pairs.CP = collisionPoints
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167
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168 # Ignore empty crossing zones
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169 empty = 1
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170 for i in crossingZones:
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171 if(crossingZones[i] != []):
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172 empty = 0
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173 if(empty == 1):
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174 pairs.hasCZ = 0
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175 else:
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176 pairs.hasCZ = 1
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177 pairs.CZ = crossingZones
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178 return pairs
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179
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180 def calculateIndicatorPipe_star(a_b):
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181 """Convert `f([1,2])` to `f(1,2)` call."""
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182 return calculateIndicatorPipe(*a_b)
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183
291
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184 class VehPairs():
293
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185 '''Create a veh-pairs object from objects list'''
291
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186 def __init__(self,objects):
293
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187 self.pairs = createInteractions(objects)
292
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188 self.interactionCount = 0
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189 self.CPcount = 0
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190 self.CZcount = 0
291
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191
292
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192 # Process indicator calculation with support for multi-threading
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193 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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194 if(threads > 1):
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195 pool = multiprocessing.Pool(threads)
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196 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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197 pool.close()
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198 else:
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199 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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200 for j in xrange(len(self.pairs)):
292
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201 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
419f30491a4b renamed fields movingObject to roadUser, etc
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202 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
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203
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204 # Ignore empty collision points
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205 empty = 1
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206 for i in collisionPoints:
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207 if(collisionPoints[i] != []):
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208 empty = 0
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209 if(empty == 1):
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210 self.pairs[j].hasCP = 0
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211 else:
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212 self.pairs[j].hasCP = 1
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213 self.pairs[j].CP = collisionPoints
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214
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215 # Ignore empty crossing zones
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216 empty = 1
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217 for i in crossingZones:
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218 if(crossingZones[i] != []):
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219 empty = 0
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220 if(empty == 1):
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221 self.pairs[j].hasCZ = 0
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222 else:
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223 self.pairs[j].hasCZ = 1
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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224 self.pairs[j].CZ = crossingZones
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225
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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226 for j in self.pairs:
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227 self.interactionCount = self.interactionCount + len(j.CP)
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228 self.CPcount = len(self.getCPlist())
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229 self.Czcount = len(self.getCZlist())
291
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230
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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231
291
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232 def getPairsWCP(self):
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233 lists = []
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234 for j in self.pairs:
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diff changeset
235 if(j.hasCP):
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236 lists.append(j.num)
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237 return lists
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238
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239 def getPairsWCZ(self):
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240 lists = []
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241 for j in self.pairs:
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242 if(j.hasCZ):
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243 lists.append(j.num)
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244 return lists
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245
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
246 def getCPlist(self,indicatorThreshold=99999):
291
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247 lists = []
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248 for j in self.pairs:
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249 if(j.hasCP):
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diff changeset
250 for k in j.CP:
292
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diff changeset
251 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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diff changeset
252 lists.append([k,j.CP[k][0]])
291
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diff changeset
253 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
254
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
255 def getCZlist(self,indicatorThreshold=99999):
291
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diff changeset
256 lists = []
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257 for j in self.pairs:
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diff changeset
258 if(j.hasCZ):
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diff changeset
259 for k in j.CZ:
292
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diff changeset
260 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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diff changeset
261 lists.append([k,j.CZ[k][0]])
291
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diff changeset
262 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
263
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
264 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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diff changeset
265 if(not CPlist):
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diff changeset
266 CPlist = self.getCPlist()
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diff changeset
267 if(not CPlist):
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diff changeset
268 return False
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diff changeset
269 TTC_list = []
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diff changeset
270 for i in CPlist:
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diff changeset
271 TTC_list.append(i[1].indicator)
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272 histo = np.histogram(TTC_list,bins=bins)
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273 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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274 return histo
291
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275
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276 class Crossing(moving.STObject):
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277 '''Class for the event of a street crossing
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278
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279 TODO: detecter passage sur la chaussee
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280 identifier origines et destination (ou uniquement chaussee dans FOV)
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281 carac traversee
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282 detecter proximite veh (retirer si trop similaire simultanement
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283 carac interaction'''
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284
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285 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
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286 moving.STObject.__init__(self, num, timeInterval)
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287 self.roaduserNum = roaduserNum
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288
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289
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290
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291 if __name__ == "__main__":
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292 import doctest
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293 import unittest
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294 #suite = doctest.DocFileSuite('tests/moving.txt')
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295 suite = doctest.DocTestSuite()
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296 unittest.TextTestRunner().run(suite)
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297