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annotate python/events.py @ 628:977407c9f815

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corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 16 Feb 2015 11:58:51 +0100
parents 82e9f78a4714
children 0a5e89d6fc62
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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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93d851d0d21e bug correction, minor work on indicators
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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, cvutils
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12 __metaclass__ = type
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13
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14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180):
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15 if i[0] not in noiseEntryNums:
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16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]]
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17 elif i[1] not in noiseExitNums:
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18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]]
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19 else:
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20 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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21 routeSim={}
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22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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23 for y in prototypesRoutes:
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24 if y in prototypes.keys():
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25 prototypesIDs=prototypes[y]
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26 similarity=[]
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27 for x in prototypesIDs:
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28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
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29 similarity.append(s)
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30 routeSim[y]=max(similarity)
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31 route=max(routeSim, key=routeSim.get)
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32 if routeSim[route]>=minSimilarity:
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33 return route
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34 else:
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35 return i
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36
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37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
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38 route=(obj.startRouteID,obj.endRouteID)
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39 if useDestination:
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40 if route not in prototypes.keys():
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41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
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42 return route
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43
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44 class Interaction(moving.STObject):
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45 '''Class for an interaction between two road users
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46 or a road user and an obstacle
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47
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48 link to the moving objects
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49 contains the indicators in a dictionary with the names as keys
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50 '''
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51
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52 categories = {'Head On': 0,
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53 'rearend': 1,
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54 'side': 2,
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55 'parallel': 3}
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56
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57 indicatorNames = ['Collision Course Dot Product',
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58 'Collision Course Angle',
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59 'Distance',
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60 'Minimum Distance',
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61 'Velocity Angle',
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62 'Speed Differential',
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63 'Collision Probability',
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64 'Time to Collision', # 7
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65 'Probability of Successful Evasive Action',
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66 'predicted Post Encroachment Time']
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67
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68 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)
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69
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70 indicatorShortNames = ['CCDP',
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71 'CCA',
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72 'Dist',
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73 'MinDist',
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74 'VA',
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75 'SD',
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76 'PoC',
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77 'TTC',
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78 'P(SEA)',
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79 'pPET']
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80
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81 indicatorUnits = ['',
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82 'rad',
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83 'm',
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84 'm',
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85 'rad',
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86 'm/s',
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87 '',
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88 's',
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89 '',
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90 '']
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91
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92 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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93 moving.STObject.__init__(self, num, timeInterval)
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94 if timeInterval == None and roadUser1 != None and roadUser2 != None:
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95 self.timeInterval = roadUser1.commonTimeInterval(roadUser2)
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96 self.roadUser1 = roadUser1
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97 self.roadUser2 = roadUser2
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98 if roaduserNum1 != None and roaduserNum2 != None:
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99 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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100 elif roadUser1 != None and roadUser2 != None:
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101 self.roadUserNumbers = set(roadUser1.getNum(), roadUser2.getNum())
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102 else:
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103 self.roadUserNumbers = None
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104 self.categoryNum = categoryNum
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105 self.indicators = {}
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106 self.interactionInterval = None
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107
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108 def getRoadUserNumbers(self):
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109 return self.roadUserNumbers
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110
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111 def setRoadUsers(self, objects):
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112 nums = list(self.getRoadUserNumbers())
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113 if objects[nums[0]].getNum() == nums[0]:
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114 self.roadUser1 = objects[nums[0]]
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115 if objects[nums[1]].getNum() == nums[1]:
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116 self.roadUser2 = objects[nums[1]]
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117
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118 i = 0
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119 while i < len(objects) and self.roadUser2 == None:
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120 if objects[i].getNum() in nums:
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121 if self.roadUser1 == None:
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122 self.roadUser1 = objects[i]
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123 else:
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parents: 627
diff changeset
124 self.roadUser2 = objects[i]
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
125 i += 1
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parents: 627
diff changeset
126
293
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diff changeset
127 def getIndicator(self, indicatorName):
321
a5e40bd04cf4 rearranged LCSS indicator functions
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diff changeset
128 return self.indicators.get(indicatorName, None)
294
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diff changeset
129
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diff changeset
130 def addIndicator(self, indicator):
321
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diff changeset
131 if indicator:
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diff changeset
132 self.indicators[indicator.name] = indicator
293
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diff changeset
133
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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diff changeset
134 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
135 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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diff changeset
136 self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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parents: 627
diff changeset
137
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
138 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
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parents: 627
diff changeset
139 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
140 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
141
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
142 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
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parents: 627
diff changeset
143 if self.roadUser1 != None and self.roadUser2 != None:
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parents: 627
diff changeset
144 cvutils.displayTrajectories(videoFilename, [self.roadUser1, self.roadUser2], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
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parents: 627
diff changeset
145 else:
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parents: 627
diff changeset
146 print('Please set the interaction road user attributes roadUser1 and roadUser1 through the method setRoadUsers')
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parents: 627
diff changeset
147
293
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diff changeset
148 def computeIndicators(self):
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diff changeset
149 '''Computes the collision course cosine only if the cosine is positive'''
294
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parents: 293
diff changeset
150 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
320
419f30491a4b renamed fields movingObject to roadUser, etc
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diff changeset
151 collisionCourseAngles = {}
325
6c9c7c956926 added velocity angle in indicators
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parents: 321
diff changeset
152 velocityAngles = {}
294
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diff changeset
153 distances = {}#[0]*int(self.timeInterval.length())
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
154 speedDifferentials = {}
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
155 interactionInstants = []
294
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parents: 293
diff changeset
156 for instant in self.timeInterval:
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
157 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
325
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
158 v1 = self.roadUser1.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
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parents: 321
diff changeset
159 v2 = self.roadUser2.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
160 deltav = v2-v1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
161 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
299
7e5fb4abd070 renaming event to events and correcting errors in indicator computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 294
diff changeset
162 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
317
d280b881e860 added indicator min distance
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parents: 310
diff changeset
163 distances[instant] = deltap.norm2()
294
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parents: 293
diff changeset
164 speedDifferentials[instant] = deltav.norm2()
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
165 if collisionCourseDotProducts[instant] > 0:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
166 interactionInstants.append(instant)
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
167 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
306
93d851d0d21e bug correction, minor work on indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 299
diff changeset
168
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
169 if len(interactionInstants) >= 2:
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parents: 451
diff changeset
170 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1])
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
171 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
172 self.interactionInterval = moving.TimeInterval()
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
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parents: 382
diff changeset
173 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
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parents: 382
diff changeset
174 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
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parents: 382
diff changeset
175 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances))
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parents: 382
diff changeset
176 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
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parents: 382
diff changeset
177 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))
293
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parents: 292
diff changeset
178
317
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parents: 310
diff changeset
179 # if we have features, compute other indicators
559
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 558
diff changeset
180 if len(self.roadUser1.features) != 0 and len(self.roadUser2.features) != 0:
317
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
181 minDistance={}
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parents: 310
diff changeset
182 for instant in self.timeInterval:
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 378
diff changeset
183 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
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parents: 382
diff changeset
184 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
317
d280b881e860 added indicator min distance
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parents: 310
diff changeset
185
627
82e9f78a4714 added test for location for trajectories
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parents: 619
diff changeset
186 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1, usePrototypes=False, route1= (-1,-1), route2=(-1,-1), prototypes={}, secondStepPrototypes={}, nMatching={}, objects=[], noiseEntryNums=[], noiseExitNums=[], minSimilarity=0.1, mostMatched=None, useDestination=True, useSpeedPrototype=True, acceptPartialLength=30, step=1):
338
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
187 '''Computes all crossing and collision points at each common instant for two road users. '''
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diff changeset
188 self.collisionPoints={}
339
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 338
diff changeset
189 self.crossingZones={}
338
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
190 TTCs = {}
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
191 if usePrototypes:
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MohamedGomaa
parents: 607
diff changeset
192 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
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MohamedGomaa
parents: 607
diff changeset
193 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
338
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
194
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
195 if timeInterval:
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
196 commonTimeInterval = timeInterval
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
197 else:
338
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
198 commonTimeInterval = self.timeInterval
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
199 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
558
a80ef6931fd8 updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
200 for i, cp in self.collisionPoints.iteritems():
a80ef6931fd8 updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
201 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
202 # add probability of collision, and probability of successful evasive action
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
203 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
338
f3aceea2afbb first safety analysis script
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parents: 325
diff changeset
204
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
205 if computeCZ:
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
206 pPETs = {}
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
207 for i, cz in self.crossingZones.iteritems():
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
208 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 566
diff changeset
209 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
210
310
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents: 306
diff changeset
211 def addVideoFilename(self,videoFilename):
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
212 self.videoFilename= videoFilename
310
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents: 306
diff changeset
213
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents: 306
diff changeset
214 def addInteractionType(self,interactionType):
454
62d05436099d corrected indentation bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 452
diff changeset
215 ''' interaction types: conflict or collision if they are known'''
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 436
diff changeset
216 self.interactionType= interactionType
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 436
diff changeset
217
487
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
218 def createInteractions(objects, _others = None):
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
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parents: 454
diff changeset
219 '''Create all interactions of two co-existing road users'''
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
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parents: 454
diff changeset
220 if _others != None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
221 others = _others
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
222
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
223 interactions = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
224 num = 0
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
225 for i in xrange(len(objects)):
487
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
226 if _others == None:
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
227 others = objects[:i]
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
228 for j in xrange(len(others)):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
229 commonTimeInterval = objects[i].commonTimeInterval(others[j])
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
230 if not commonTimeInterval.empty():
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
231 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j]))
293
ee3302528cdc rearranged new code by Paul (works now)
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parents: 292
diff changeset
232 num += 1
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parents: 292
diff changeset
233 return interactions
ee3302528cdc rearranged new code by Paul (works now)
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parents: 292
diff changeset
234
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
235 def findInteraction(interactions, roadUserNum1, roadUserNum2):
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
236 'Returns the right interaction in the set'
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parents: 627
diff changeset
237 i=0
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parents: 627
diff changeset
238 while i<len(interactions) and set([roadUserNum1, roadUserNum2]) != interactions[i].getRoadUserNumbers():
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
239 i+=1
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parents: 627
diff changeset
240 if i<len(interactions):
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241 return interactions[i]
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242 else:
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243 return None
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244
430
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245 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity):
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246 '''Finds exemplar indicator time series for all interactions
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247 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction)
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diff changeset
248
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249 if an indicator profile (time series) is different enough (<minSimilarity),
452
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diff changeset
250 it will become a new prototype.
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diff changeset
251 Non-prototype interactions will be assigned to an existing prototype'''
430
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252
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253 # sort indicators based on length
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254 indices = range(similarityMatrix.shape[0])
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diff changeset
255 def compare(i, j):
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diff changeset
256 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)):
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diff changeset
257 return -1
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diff changeset
258 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)):
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259 return 0
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diff changeset
260 else:
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261 return 1
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262 indices.sort(compare)
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263 # go through all indicators
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264 prototypeIndices = [indices[0]]
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265 for i in indices[1:]:
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266 if similarityMatrix[i][prototypeIndices].max() < minSimilarity:
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267 prototypeIndices.append(i)
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268
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269 # assignment
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270 labels = [-1]*similarityMatrix.shape[0]
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271 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices]
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272 for i in prototypeIndices:
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273 labels[i] = i
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274 for i in indices:
430
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275 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax()
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276 labels[i] = prototypeIndices[prototypeIndex]
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277
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278 return prototypeIndices, labels
293
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279
452
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280 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize):
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281 '''Finds exmaple indicator time series (several indicators) for all interactions
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282
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parents: 451
diff changeset
283 if any interaction indicator time series is different enough (<minSimilarity),
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diff changeset
284 it will become a new prototype.
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diff changeset
285 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough'''
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parents: 451
diff changeset
286 pass
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287
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
288 # TODO:
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289 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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290 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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diff changeset
291 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
320
419f30491a4b renamed fields movingObject to roadUser, etc
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parents: 317
diff changeset
292 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
292
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293 #print pairs.num
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294 # Ignore empty collision points
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295 empty = 1
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296 for i in collisionPoints:
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diff changeset
297 if(collisionPoints[i] != []):
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298 empty = 0
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diff changeset
299 if(empty == 1):
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diff changeset
300 pairs.hasCP = 0
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diff changeset
301 else:
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diff changeset
302 pairs.hasCP = 1
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diff changeset
303 pairs.CP = collisionPoints
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diff changeset
304
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diff changeset
305 # Ignore empty crossing zones
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306 empty = 1
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diff changeset
307 for i in crossingZones:
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parents: 291
diff changeset
308 if(crossingZones[i] != []):
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diff changeset
309 empty = 0
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diff changeset
310 if(empty == 1):
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diff changeset
311 pairs.hasCZ = 0
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parents: 291
diff changeset
312 else:
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parents: 291
diff changeset
313 pairs.hasCZ = 1
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diff changeset
314 pairs.CZ = crossingZones
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diff changeset
315 return pairs
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diff changeset
316
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diff changeset
317 def calculateIndicatorPipe_star(a_b):
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diff changeset
318 """Convert `f([1,2])` to `f(1,2)` call."""
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diff changeset
319 return calculateIndicatorPipe(*a_b)
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diff changeset
320
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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diff changeset
321 class VehPairs():
293
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diff changeset
322 '''Create a veh-pairs object from objects list'''
291
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diff changeset
323 def __init__(self,objects):
293
ee3302528cdc rearranged new code by Paul (works now)
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parents: 292
diff changeset
324 self.pairs = createInteractions(objects)
292
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parents: 291
diff changeset
325 self.interactionCount = 0
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diff changeset
326 self.CPcount = 0
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diff changeset
327 self.CZcount = 0
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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diff changeset
328
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
329 # Process indicator calculation with support for multi-threading
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diff changeset
330 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
331 if(threads > 1):
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
332 pool = multiprocessing.Pool(threads)
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diff changeset
333 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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parents: 291
diff changeset
334 pool.close()
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
335 else:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
336 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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parents: 283
diff changeset
337 for j in xrange(len(self.pairs)):
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
338 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
419f30491a4b renamed fields movingObject to roadUser, etc
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parents: 317
diff changeset
339 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
340
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
341 # Ignore empty collision points
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
342 empty = 1
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parents: 283
diff changeset
343 for i in collisionPoints:
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parents: 283
diff changeset
344 if(collisionPoints[i] != []):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
345 empty = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
346 if(empty == 1):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
347 self.pairs[j].hasCP = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
348 else:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
349 self.pairs[j].hasCP = 1
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
350 self.pairs[j].CP = collisionPoints
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
351
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
352 # Ignore empty crossing zones
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
353 empty = 1
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
354 for i in crossingZones:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
355 if(crossingZones[i] != []):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
356 empty = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
357 if(empty == 1):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
358 self.pairs[j].hasCZ = 0
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
359 else:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
360 self.pairs[j].hasCZ = 1
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
361 self.pairs[j].CZ = crossingZones
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
362
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
363 for j in self.pairs:
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
364 self.interactionCount = self.interactionCount + len(j.CP)
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
365 self.CPcount = len(self.getCPlist())
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
Paul@BEAST-III
parents: 291
diff changeset
366 self.Czcount = len(self.getCZlist())
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
367
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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parents: 291
diff changeset
368
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
369 def getPairsWCP(self):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
370 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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parents: 283
diff changeset
371 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
372 if(j.hasCP):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
373 lists.append(j.num)
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
374 return lists
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
375
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
376 def getPairsWCZ(self):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
377 lists = []
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
378 for j in self.pairs:
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
379 if(j.hasCZ):
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
380 lists.append(j.num)
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
381 return lists
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
382
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
383 def getCPlist(self,indicatorThreshold=float('Inf')):
291
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384 lists = []
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385 for j in self.pairs:
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386 if(j.hasCP):
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387 for k in j.CP:
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388 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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389 lists.append([k,j.CP[k][0]])
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390 return lists
292
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391
526
21bdeb29f855 corrected bug in initialization of lists and loading trajectories from vissim files
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392 def getCZlist(self,indicatorThreshold=float('Inf')):
291
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393 lists = []
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394 for j in self.pairs:
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395 if(j.hasCZ):
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396 for k in j.CZ:
292
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397 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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398 lists.append([k,j.CZ[k][0]])
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399 return lists
292
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400
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401 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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402 if(not CPlist):
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403 CPlist = self.getCPlist()
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404 if(not CPlist):
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405 return False
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406 TTC_list = []
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407 for i in CPlist:
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408 TTC_list.append(i[1].indicator)
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409 histo = np.histogram(TTC_list,bins=bins)
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410 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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411 return histo
291
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412
59
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diff changeset
413 class Crossing(moving.STObject):
56
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414 '''Class for the event of a street crossing
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415
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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416 TODO: detecter passage sur la chaussee
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parents:
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417 identifier origines et destination (ou uniquement chaussee dans FOV)
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418 carac traversee
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419 detecter proximite veh (retirer si trop similaire simultanement
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420 carac interaction'''
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421
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422 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
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diff changeset
423 moving.STObject.__init__(self, num, timeInterval)
56
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424 self.roaduserNum = roaduserNum
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425
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
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426
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
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427
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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428 if __name__ == "__main__":
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429 import doctest
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430 import unittest
489
000bddf84ad0 corrected bugs in safety analysis
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diff changeset
431 suite = doctest.DocFileSuite('tests/events.txt')
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diff changeset
432 #suite = doctest.DocTestSuite()
56
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433 unittest.TextTestRunner().run(suite)
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434