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annotate python/events.py @ 454:62d05436099d

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corrected indentation bug
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 13 Feb 2014 16:42:32 -0500
parents c59a47ce0209
children e04b22ce2fcd
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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 'CCA',
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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 indicatorUnits = ['',
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53 'rad',
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54 'm',
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55 'm',
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56 'rad',
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57 'm/s',
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58 '',
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59 's',
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60 '',
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61 '']
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62
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63 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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64 moving.STObject.__init__(self, num, timeInterval)
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65 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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66 self.roadUser1 = roadUser1
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67 self.roadUser2 = roadUser2
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68 self.categoryNum = categoryNum
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69 self.indicators = {}
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70 self.interactionInterval = None
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71
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72 def getRoadUserNumbers(self):
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73 return self.roadUserNumbers
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74
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75 def getIndicator(self, indicatorName):
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76 return self.indicators.get(indicatorName, None)
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77
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78 def addIndicator(self, indicator):
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79 if indicator:
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80 self.indicators[indicator.name] = indicator
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81
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82 def computeIndicators(self):
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83 '''Computes the collision course cosine only if the cosine is positive'''
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84 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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85 collisionCourseAngles = {}
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86 velocityAngles = {}
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87 distances = {}#[0]*int(self.timeInterval.length())
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88 speedDifferentials = {}
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89 interactionInstants = []
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90 for instant in self.timeInterval:
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91 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
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92 v1 = self.roadUser1.getVelocityAtInstant(instant)
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93 v2 = self.roadUser2.getVelocityAtInstant(instant)
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94 deltav = v2-v1
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95 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
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96 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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97 distances[instant] = deltap.norm2()
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98 speedDifferentials[instant] = deltav.norm2()
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99 if collisionCourseDotProducts[instant] > 0:
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100 interactionInstants.append(instant)
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101 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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102
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103 if len(interactionInstants) >= 2:
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104 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1])
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105 else:
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106 self.interactionInterval = moving.TimeInterval()
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107 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
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108 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
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109 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
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110 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
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111 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))
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112
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113 # if we have features, compute other indicators
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114 if self.roadUser1.features != None and self.roadUser2.features != None:
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115 minDistance={}
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116 for instant in self.timeInterval:
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117 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
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118 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
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119
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120 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
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121 '''Computes all crossing and collision points at each common instant for two road users. '''
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122 self.collisionPoints={}
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123 self.crossingZones={}
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124 TTCs = {}
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125
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126 if timeInterval:
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127 commonTimeInterval = timeInterval
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128 else:
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129 commonTimeInterval = self.timeInterval
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130 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
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131 self.collisionPoints[i], self.crossingZones[i] = predictionParameters.computeCrossingsCollisionsAtInstant(i, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
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132 if len(self.collisionPoints[i]) > 0:
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133 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i])
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134 # add probability of collision, and probability of successful evasive action
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135 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
338
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136
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137 if computeCZ:
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138 pPETs = {}
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139 for i in list(commonTimeInterval)[:-1]:
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140 if len(self.crossingZones[i]) > 0:
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141 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
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142 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
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143
310
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144 def addVideoFilename(self,videoFilename):
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145 self.videoFilename= videoFilename
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146
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147 def addInteractionType(self,interactionType):
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148 ''' interaction types: conflict or collision if they are known'''
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149 self.interactionType= interactionType
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150
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151 def createInteractions(objects):
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152 '''Create all interactions of two co-existing road users
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153
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154 todo add test to compute categories?'''
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155 interactions = []
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156 num = 0
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157 for i in xrange(len(objects)):
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158 for j in xrange(i):
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159 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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160 if not commonTimeInterval.empty():
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161 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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162 num += 1
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163 return interactions
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164
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165 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity):
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166 '''Finds exemplar indicator time series for all interactions
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167 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction)
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168
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169 if an indicator profile (time series) is different enough (<minSimilarity),
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170 it will become a new prototype.
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171 Non-prototype interactions will be assigned to an existing prototype'''
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172
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173 # sort indicators based on length
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174 indices = range(similarityMatrix.shape[0])
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175 def compare(i, j):
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176 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)):
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177 return -1
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178 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)):
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179 return 0
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180 else:
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181 return 1
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182 indices.sort(compare)
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183 # go through all indicators
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184 prototypeIndices = [indices[0]]
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185 for i in indices[1:]:
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186 if similarityMatrix[i][prototypeIndices].max() < minSimilarity:
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187 prototypeIndices.append(i)
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188
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189 # assignment
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190 labels = [-1]*similarityMatrix.shape[0]
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191 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices]
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192 for i in prototypeIndices:
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193 labels[i] = i
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194 for i in indices:
430
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195 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax()
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196 labels[i] = prototypeIndices[prototypeIndex]
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197
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198 return prototypeIndices, labels
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199
452
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200 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize):
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201 '''Finds exmaple indicator time series (several indicators) for all interactions
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202
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203 if any interaction indicator time series is different enough (<minSimilarity),
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204 it will become a new prototype.
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205 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough'''
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206 pass
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207
292
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208 # TODO:
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209 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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210 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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211 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
320
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212 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
292
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213 #print pairs.num
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214 # Ignore empty collision points
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215 empty = 1
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216 for i in collisionPoints:
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217 if(collisionPoints[i] != []):
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218 empty = 0
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219 if(empty == 1):
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220 pairs.hasCP = 0
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221 else:
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222 pairs.hasCP = 1
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223 pairs.CP = collisionPoints
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224
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225 # Ignore empty crossing zones
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226 empty = 1
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227 for i in crossingZones:
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228 if(crossingZones[i] != []):
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229 empty = 0
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230 if(empty == 1):
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231 pairs.hasCZ = 0
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232 else:
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233 pairs.hasCZ = 1
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234 pairs.CZ = crossingZones
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235 return pairs
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236
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237 def calculateIndicatorPipe_star(a_b):
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238 """Convert `f([1,2])` to `f(1,2)` call."""
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239 return calculateIndicatorPipe(*a_b)
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240
291
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241 class VehPairs():
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242 '''Create a veh-pairs object from objects list'''
291
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243 def __init__(self,objects):
293
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244 self.pairs = createInteractions(objects)
292
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245 self.interactionCount = 0
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246 self.CPcount = 0
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247 self.CZcount = 0
291
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248
292
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249 # Process indicator calculation with support for multi-threading
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250 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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251 if(threads > 1):
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252 pool = multiprocessing.Pool(threads)
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253 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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diff changeset
254 pool.close()
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255 else:
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diff changeset
256 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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257 for j in xrange(len(self.pairs)):
292
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diff changeset
258 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
419f30491a4b renamed fields movingObject to roadUser, etc
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diff changeset
259 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
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260
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261 # Ignore empty collision points
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262 empty = 1
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263 for i in collisionPoints:
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264 if(collisionPoints[i] != []):
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265 empty = 0
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266 if(empty == 1):
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267 self.pairs[j].hasCP = 0
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268 else:
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269 self.pairs[j].hasCP = 1
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270 self.pairs[j].CP = collisionPoints
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271
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272 # Ignore empty crossing zones
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273 empty = 1
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274 for i in crossingZones:
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275 if(crossingZones[i] != []):
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276 empty = 0
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277 if(empty == 1):
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278 self.pairs[j].hasCZ = 0
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279 else:
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280 self.pairs[j].hasCZ = 1
292
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281 self.pairs[j].CZ = crossingZones
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282
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283 for j in self.pairs:
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284 self.interactionCount = self.interactionCount + len(j.CP)
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285 self.CPcount = len(self.getCPlist())
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286 self.Czcount = len(self.getCZlist())
291
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287
292
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288
291
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289 def getPairsWCP(self):
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290 lists = []
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291 for j in self.pairs:
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292 if(j.hasCP):
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293 lists.append(j.num)
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294 return lists
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295
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296 def getPairsWCZ(self):
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297 lists = []
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298 for j in self.pairs:
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299 if(j.hasCZ):
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300 lists.append(j.num)
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301 return lists
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302
292
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303 def getCPlist(self,indicatorThreshold=99999):
291
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304 lists = []
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305 for j in self.pairs:
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306 if(j.hasCP):
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307 for k in j.CP:
292
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308 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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309 lists.append([k,j.CP[k][0]])
291
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310 return lists
292
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311
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312 def getCZlist(self,indicatorThreshold=99999):
291
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313 lists = []
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314 for j in self.pairs:
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315 if(j.hasCZ):
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316 for k in j.CZ:
292
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317 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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318 lists.append([k,j.CZ[k][0]])
291
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319 return lists
292
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320
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321 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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322 if(not CPlist):
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323 CPlist = self.getCPlist()
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324 if(not CPlist):
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325 return False
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326 TTC_list = []
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327 for i in CPlist:
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328 TTC_list.append(i[1].indicator)
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329 histo = np.histogram(TTC_list,bins=bins)
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330 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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331 return histo
291
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332
59
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333 class Crossing(moving.STObject):
56
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334 '''Class for the event of a street crossing
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335
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336 TODO: detecter passage sur la chaussee
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337 identifier origines et destination (ou uniquement chaussee dans FOV)
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338 carac traversee
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339 detecter proximite veh (retirer si trop similaire simultanement
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340 carac interaction'''
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341
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342 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
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diff changeset
343 moving.STObject.__init__(self, num, timeInterval)
56
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344 self.roaduserNum = roaduserNum
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345
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346
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347
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348 if __name__ == "__main__":
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349 import doctest
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350 import unittest
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351 #suite = doctest.DocFileSuite('tests/moving.txt')
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352 suite = doctest.DocTestSuite()
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353 unittest.TextTestRunner().run(suite)
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354