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annotate python/events.py @ 320:419f30491a4b

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renamed fields movingObject to roadUser, etc
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 06 May 2013 17:20:07 +0200
parents d280b881e860
children a5e40bd04cf4
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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61fe73df2d36 created new package, moved Interaction class and created Crossing class
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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
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12 import prediction
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13 import indicators
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14
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15 __metaclass__ = type
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16
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17 class Interaction(moving.STObject):
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18 '''Class for an interaction between two road users
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19 or a road user and an obstacle
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20
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21 link to the moving objects
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22 contains the indicators in a dictionary with the names as keys
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23 '''
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24
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25 categories = {'Head On': 0,
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26 'rearend': 1,
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27 'side': 2,
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28 'parallel': 3}
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29
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30 indicatorNames = ['Collision Course Dot Product',
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31 'Collision Course Angle',
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32 'Distance',
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33 'Minimum Distance',
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34 'Speed Differential']
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35
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36 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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37 moving.STObject.__init__(self, num, timeInterval)
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38 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
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39 self.roadUser1 = roadUser1
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40 self.roadUser2 = roadUser2
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41 self.categoryNum = categoryNum
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42 self.indicators = {}
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43
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44 def getIndicator(self, indicatorName):
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45 return self.indicators[indicatorName]
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46
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47 def addIndicator(self, indicator):
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48 self.indicators[indicator.name] = indicator
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49
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50 def computeIndicators(self):
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51 '''Computes the collision course cosine only if the cosine is positive'''
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52 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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53 collisionCourseAngles = {}
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54 distances = {}#[0]*int(self.timeInterval.length())
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55 speedDifferentials = {}
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56 for instant in self.timeInterval:
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57 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
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58 deltav = self.roadUser2.getVelocityAtInstant(instant)-self.roadUser1.getVelocityAtInstant(instant)
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59 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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60 distances[instant] = deltap.norm2()
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61 speedDifferentials[instant] = deltav.norm2()
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62 #if collisionCourseDotProducts[instant] > 0:
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63 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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64
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65 # todo shorten the time intervals based on the interaction definition
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66 self.addIndicator(indicators.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts))
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67 self.addIndicator(indicators.SeverityIndicator('Collision Course Angle', collisionCourseAngles))
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68 self.addIndicator(indicators.SeverityIndicator('Distance', distances))
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69 self.addIndicator(indicators.SeverityIndicator('Speed Differential', speedDifferentials))
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70
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71 # todo test for interaction instants and interval, compute indicators
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72
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73 # if we have features, compute other indicators
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74 if self.roadUser1.features and self.roadUser2.features:
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75 from scipy.spatial.distance import cdist
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76 minDistance={}
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77 for instant in self.timeInterval:
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78 positions1 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser1.features if f.existsAtInstant(instant)]
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79 positions2 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser2.features if f.existsAtInstant(instant)]
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80 distance = cdist(positions1, positions2, metric = 'euclidean')
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81 minDistance[instant] = distance.min()
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82 self.addIndicator(indicators.SeverityIndicator('Minimum Distance', minDistance))
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83
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84 def computeCollisionPoints(self, predictionParameters, collisionDistanceThreshold, timeHorizon):
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85 if self.roadUser1.features and self.roadUser2.features:
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86 collisionPoints = prediction.computeCollisions(self.roadUser1, self.roadUser2, predictionParameters, collisionDistanceThreshold, timeHorizon)
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87 self.addIndicator(indicators.SeverityIndicator('Collision Points', collisionPoints))
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88 else:
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89 print('Features not associated with objects')
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90
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91 def addVideoFilename(self,videoFilename):
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92 self.videoFilename= videoFilename
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93
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94 def addInteractionType(self,interactionType):
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95 ''' interaction types: conflict or collision if they are known'''
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96 self.interactionType= interactionType
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97
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98 def createInteractions(objects):
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99 '''Create all interactions of two co-existing road users
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100
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101 todo add test to compute categories?'''
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102 interactions = []
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103 num = 0
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104 for i in xrange(len(objects)):
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105 for j in xrange(i):
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106 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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107 if not commonTimeInterval.empty():
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108 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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109 num += 1
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110 return interactions
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111
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112
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113 # TODO:
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114 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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115 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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116 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
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117 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
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118 #print pairs.num
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119 # Ignore empty collision points
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120 empty = 1
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121 for i in collisionPoints:
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122 if(collisionPoints[i] != []):
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123 empty = 0
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124 if(empty == 1):
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125 pairs.hasCP = 0
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126 else:
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127 pairs.hasCP = 1
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128 pairs.CP = collisionPoints
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129
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130 # Ignore empty crossing zones
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131 empty = 1
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132 for i in crossingZones:
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133 if(crossingZones[i] != []):
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134 empty = 0
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135 if(empty == 1):
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136 pairs.hasCZ = 0
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137 else:
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138 pairs.hasCZ = 1
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139 pairs.CZ = crossingZones
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140 return pairs
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141
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142 def calculateIndicatorPipe_star(a_b):
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143 """Convert `f([1,2])` to `f(1,2)` call."""
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144 return calculateIndicatorPipe(*a_b)
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145
291
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146 class VehPairs():
293
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147 '''Create a veh-pairs object from objects list'''
291
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148 def __init__(self,objects):
293
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149 self.pairs = createInteractions(objects)
292
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150 self.interactionCount = 0
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151 self.CPcount = 0
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152 self.CZcount = 0
291
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153
292
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154 # Process indicator calculation with support for multi-threading
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155 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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156 if(threads > 1):
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157 pool = multiprocessing.Pool(threads)
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158 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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159 pool.close()
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160 else:
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161 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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162 for j in xrange(len(self.pairs)):
292
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163 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
419f30491a4b renamed fields movingObject to roadUser, etc
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164 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
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165
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166 # Ignore empty collision points
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167 empty = 1
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168 for i in collisionPoints:
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169 if(collisionPoints[i] != []):
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170 empty = 0
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171 if(empty == 1):
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172 self.pairs[j].hasCP = 0
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173 else:
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174 self.pairs[j].hasCP = 1
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175 self.pairs[j].CP = collisionPoints
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176
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177 # Ignore empty crossing zones
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178 empty = 1
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179 for i in crossingZones:
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180 if(crossingZones[i] != []):
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181 empty = 0
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182 if(empty == 1):
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183 self.pairs[j].hasCZ = 0
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184 else:
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185 self.pairs[j].hasCZ = 1
292
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186 self.pairs[j].CZ = crossingZones
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187
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188 for j in self.pairs:
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189 self.interactionCount = self.interactionCount + len(j.CP)
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190 self.CPcount = len(self.getCPlist())
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191 self.Czcount = len(self.getCZlist())
291
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192
292
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193
291
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194 def getPairsWCP(self):
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195 lists = []
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196 for j in self.pairs:
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197 if(j.hasCP):
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198 lists.append(j.num)
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199 return lists
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200
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201 def getPairsWCZ(self):
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202 lists = []
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203 for j in self.pairs:
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204 if(j.hasCZ):
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205 lists.append(j.num)
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206 return lists
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207
292
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208 def getCPlist(self,indicatorThreshold=99999):
291
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209 lists = []
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210 for j in self.pairs:
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211 if(j.hasCP):
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212 for k in j.CP:
292
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213 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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214 lists.append([k,j.CP[k][0]])
291
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215 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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216
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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217 def getCZlist(self,indicatorThreshold=99999):
291
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218 lists = []
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219 for j in self.pairs:
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220 if(j.hasCZ):
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221 for k in j.CZ:
292
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222 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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223 lists.append([k,j.CZ[k][0]])
291
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diff changeset
224 return lists
292
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225
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diff changeset
226 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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227 if(not CPlist):
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228 CPlist = self.getCPlist()
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diff changeset
229 if(not CPlist):
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230 return False
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diff changeset
231 TTC_list = []
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diff changeset
232 for i in CPlist:
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233 TTC_list.append(i[1].indicator)
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diff changeset
234 histo = np.histogram(TTC_list,bins=bins)
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diff changeset
235 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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diff changeset
236 return histo
291
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237
59
f955e83da499 developed indicators in interactions
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diff changeset
238 class Crossing(moving.STObject):
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
239 '''Class for the event of a street crossing
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240
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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diff changeset
241 TODO: detecter passage sur la chaussee
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parents:
diff changeset
242 identifier origines et destination (ou uniquement chaussee dans FOV)
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parents:
diff changeset
243 carac traversee
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diff changeset
244 detecter proximite veh (retirer si trop similaire simultanement
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diff changeset
245 carac interaction'''
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246
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diff changeset
247 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
248 moving.STObject.__init__(self, num, timeInterval)
56
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diff changeset
249 self.roaduserNum = roaduserNum
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250
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251
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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252
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253 if __name__ == "__main__":
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diff changeset
254 import doctest
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diff changeset
255 import unittest
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parents:
diff changeset
256 #suite = doctest.DocFileSuite('tests/moving.txt')
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parents:
diff changeset
257 suite = doctest.DocTestSuite()
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diff changeset
258 unittest.TextTestRunner().run(suite)
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parents:
diff changeset
259