Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 394:6567fee37c16
renamed table for bounding boxes
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 26 Jul 2013 17:24:33 -0400 |
parents | 6e0dedd34920 |
children | 365d8dee44f3 |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for events |
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3 Interactions, pedestrian crossing...''' |
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4 |
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5 import numpy as np |
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6 from numpy import arccos |
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7 |
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8 import multiprocessing |
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9 import itertools |
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10 |
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11 import moving, prediction, indicators, utils |
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12 |
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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) |
339 | 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={} |
339 | 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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127 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) |
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128 |
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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 |
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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 |
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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): |
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155 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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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 |
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184 class VehPairs(): |
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185 '''Create a veh-pairs object from objects list''' |
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186 def __init__(self,objects): |
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187 self.pairs = createInteractions(objects) |
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188 self.interactionCount = 0 |
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189 self.CPcount = 0 |
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190 self.CZcount = 0 |
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191 |
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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 |
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200 for j in xrange(len(self.pairs)): |
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201 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
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202 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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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 |
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224 self.pairs[j].CZ = crossingZones |
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225 |
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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()) |
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230 |
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231 |
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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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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
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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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250 for k in j.CP: |
292
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251 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
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252 lists.append([k,j.CP[k][0]]) |
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253 return lists |
292
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254 |
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255 def getCZlist(self,indicatorThreshold=99999): |
291
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256 lists = [] |
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257 for j in self.pairs: |
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258 if(j.hasCZ): |
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259 for k in j.CZ: |
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260 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
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261 lists.append([k,j.CZ[k][0]]) |
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262 return lists |
292
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263 |
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264 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
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265 if(not CPlist): |
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266 CPlist = self.getCPlist() |
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267 if(not CPlist): |
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268 return False |
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269 TTC_list = [] |
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270 for i in CPlist: |
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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 |