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annotate python/events.py @ 339:9c1818a71c9c

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minor
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 19 Jun 2013 22:56:21 -0400
parents f3aceea2afbb
children 1046b7346886
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rev   line source
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61fe73df2d36 created new package, moved Interaction class and created Crossing class
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1 #! /usr/bin/env python
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2 '''Libraries for events
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3 Interactions, pedestrian crossing...'''
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4
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5 import numpy as np
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6 from numpy import arccos
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7
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8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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8 import multiprocessing
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9 import itertools
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10
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f955e83da499 developed indicators in interactions
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11 import moving
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12 import prediction
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13 import indicators
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14
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15 __metaclass__ = type
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16
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17 class Interaction(moving.STObject):
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18 '''Class for an interaction between two road users
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19 or a road user and an obstacle
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20
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21 link to the moving objects
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22 contains the indicators in a dictionary with the names as keys
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23 '''
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24
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25 categories = {'Head On': 0,
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26 'rearend': 1,
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27 'side': 2,
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28 'parallel': 3}
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29
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30 indicatorNames = ['Collision Course Dot Product',
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31 'Collision Course Angle',
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32 'Distance',
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33 'Minimum Distance',
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34 'Speed Differential']
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35
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36 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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37 moving.STObject.__init__(self, num, timeInterval)
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38 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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39 self.roadUser1 = roadUser1
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40 self.roadUser2 = roadUser2
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41 self.categoryNum = categoryNum
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42 self.indicators = {}
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43
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44 def getIndicator(self, indicatorName):
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45 return self.indicators.get(indicatorName, None)
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46
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47 def addIndicator(self, indicator):
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48 if indicator:
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49 self.indicators[indicator.name] = indicator
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50
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51 def computeIndicators(self):
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52 '''Computes the collision course cosine only if the cosine is positive'''
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53 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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54 collisionCourseAngles = {}
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55 velocityAngles = {}
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56 distances = {}#[0]*int(self.timeInterval.length())
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57 speedDifferentials = {}
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58 for instant in self.timeInterval:
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59 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
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60 v1 = self.roadUser1.getVelocityAtInstant(instant)
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61 v2 = self.roadUser2.getVelocityAtInstant(instant)
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62 deltav = v2-v1
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63 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
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64 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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65 distances[instant] = deltap.norm2()
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66 speedDifferentials[instant] = deltav.norm2()
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67 #if collisionCourseDotProducts[instant] > 0:
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68 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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69
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70 # todo shorten the time intervals based on the interaction definition
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71 self.addIndicator(indicators.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts))
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72 self.addIndicator(indicators.SeverityIndicator('Collision Course Angle', collisionCourseAngles))
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73 self.addIndicator(indicators.SeverityIndicator('Distance', distances))
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74 self.addIndicator(indicators.SeverityIndicator('Velocity Angle', velocityAngles))
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75 self.addIndicator(indicators.SeverityIndicator('Speed Differential', speedDifferentials))
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76
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77 # todo test for interaction instants and interval, compute indicators
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78
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79 # if we have features, compute other indicators
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80 if self.roadUser1.features and self.roadUser2.features:
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81 from scipy.spatial.distance import cdist
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82 minDistance={}
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83 for instant in self.timeInterval:
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84 positions1 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser1.features if f.existsAtInstant(instant)]
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85 positions2 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser2.features if f.existsAtInstant(instant)]
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86 distance = cdist(positions1, positions2, metric = 'euclidean')
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87 minDistance[instant] = distance.min()
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88 self.addIndicator(indicators.SeverityIndicator('Minimum Distance', minDistance))
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89
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90 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
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91 '''Computes all crossing and collision points at each common instant for two road users. '''
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92 self.collisionPoints={}
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93 self.crossingZones={}
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94 TTCs = {}
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95
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96 if timeInterval:
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97 commonTimeInterval = timeInterval
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98 else:
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99 commonTimeInterval = self.timeInterval
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100 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
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101 self.collisionPoints[i], self.crossingZones[i] = prediction.computeCrossingsCollisionsAtInstant(i, self.roadUser1, self.roadUser2, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
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102 TTCs[i] = prediction.computeExpectedIndicator(self.collisionPoints[i])
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103 self.addIndicator(indicators.SeverityIndicator('TTC', TTCs))
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104
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105 if computeCZ:
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106 pPETs = {}
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107 for i in list(commonTimeInterval)[:-1]:
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108 pPETs[i] = prediction.computeExpectedIndicator(self.crossingZones[i])
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109 self.addIndicator(indicators.SeverityIndicator('pPET', pPETs))
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110
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111 def addVideoFilename(self,videoFilename):
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112 self.videoFilename= videoFilename
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113
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114 def addInteractionType(self,interactionType):
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115 ''' interaction types: conflict or collision if they are known'''
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116 self.interactionType= interactionType
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117
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118 def createInteractions(objects):
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119 '''Create all interactions of two co-existing road users
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120
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121 todo add test to compute categories?'''
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122 interactions = []
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123 num = 0
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124 for i in xrange(len(objects)):
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125 for j in xrange(i):
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126 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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127 if not commonTimeInterval.empty():
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128 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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129 num += 1
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130 return interactions
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131
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132
292
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133 # TODO:
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134 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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135 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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136 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
320
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137 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
292
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138 #print pairs.num
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139 # Ignore empty collision points
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140 empty = 1
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141 for i in collisionPoints:
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142 if(collisionPoints[i] != []):
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143 empty = 0
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144 if(empty == 1):
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145 pairs.hasCP = 0
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146 else:
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147 pairs.hasCP = 1
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148 pairs.CP = collisionPoints
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149
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150 # Ignore empty crossing zones
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151 empty = 1
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152 for i in crossingZones:
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153 if(crossingZones[i] != []):
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154 empty = 0
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155 if(empty == 1):
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156 pairs.hasCZ = 0
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157 else:
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158 pairs.hasCZ = 1
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159 pairs.CZ = crossingZones
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160 return pairs
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161
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162 def calculateIndicatorPipe_star(a_b):
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163 """Convert `f([1,2])` to `f(1,2)` call."""
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164 return calculateIndicatorPipe(*a_b)
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165
291
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166 class VehPairs():
293
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167 '''Create a veh-pairs object from objects list'''
291
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168 def __init__(self,objects):
293
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169 self.pairs = createInteractions(objects)
292
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170 self.interactionCount = 0
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171 self.CPcount = 0
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172 self.CZcount = 0
291
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173
292
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174 # Process indicator calculation with support for multi-threading
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175 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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176 if(threads > 1):
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177 pool = multiprocessing.Pool(threads)
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178 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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179 pool.close()
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180 else:
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181 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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182 for j in xrange(len(self.pairs)):
292
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183 #prog.updateAmount(j) #Removed in traffic-intelligenc port
320
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184 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon)
291
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185
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186 # Ignore empty collision points
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187 empty = 1
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188 for i in collisionPoints:
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189 if(collisionPoints[i] != []):
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190 empty = 0
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191 if(empty == 1):
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192 self.pairs[j].hasCP = 0
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193 else:
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194 self.pairs[j].hasCP = 1
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195 self.pairs[j].CP = collisionPoints
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196
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197 # Ignore empty crossing zones
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198 empty = 1
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199 for i in crossingZones:
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200 if(crossingZones[i] != []):
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201 empty = 0
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202 if(empty == 1):
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203 self.pairs[j].hasCZ = 0
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204 else:
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205 self.pairs[j].hasCZ = 1
292
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206 self.pairs[j].CZ = crossingZones
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207
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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208 for j in self.pairs:
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209 self.interactionCount = self.interactionCount + len(j.CP)
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210 self.CPcount = len(self.getCPlist())
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211 self.Czcount = len(self.getCZlist())
291
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212
292
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213
291
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214 def getPairsWCP(self):
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215 lists = []
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216 for j in self.pairs:
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217 if(j.hasCP):
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218 lists.append(j.num)
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219 return lists
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220
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221 def getPairsWCZ(self):
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222 lists = []
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223 for j in self.pairs:
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224 if(j.hasCZ):
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diff changeset
225 lists.append(j.num)
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226 return lists
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227
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
228 def getCPlist(self,indicatorThreshold=99999):
291
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229 lists = []
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230 for j in self.pairs:
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231 if(j.hasCP):
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232 for k in j.CP:
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
233 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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diff changeset
234 lists.append([k,j.CP[k][0]])
291
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235 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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236
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
237 def getCZlist(self,indicatorThreshold=99999):
291
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238 lists = []
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239 for j in self.pairs:
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240 if(j.hasCZ):
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diff changeset
241 for k in j.CZ:
292
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diff changeset
242 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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diff changeset
243 lists.append([k,j.CZ[k][0]])
291
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diff changeset
244 return lists
292
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diff changeset
245
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diff changeset
246 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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diff changeset
247 if(not CPlist):
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diff changeset
248 CPlist = self.getCPlist()
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diff changeset
249 if(not CPlist):
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diff changeset
250 return False
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diff changeset
251 TTC_list = []
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diff changeset
252 for i in CPlist:
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diff changeset
253 TTC_list.append(i[1].indicator)
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diff changeset
254 histo = np.histogram(TTC_list,bins=bins)
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diff changeset
255 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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diff changeset
256 return histo
291
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diff changeset
257
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
258 class Crossing(moving.STObject):
56
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parents:
diff changeset
259 '''Class for the event of a street crossing
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260
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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diff changeset
261 TODO: detecter passage sur la chaussee
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parents:
diff changeset
262 identifier origines et destination (ou uniquement chaussee dans FOV)
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parents:
diff changeset
263 carac traversee
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parents:
diff changeset
264 detecter proximite veh (retirer si trop similaire simultanement
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parents:
diff changeset
265 carac interaction'''
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parents:
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266
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parents:
diff changeset
267 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
268 moving.STObject.__init__(self, num, timeInterval)
56
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diff changeset
269 self.roaduserNum = roaduserNum
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270
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parents:
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271
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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272
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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273 if __name__ == "__main__":
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parents:
diff changeset
274 import doctest
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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275 import unittest
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
276 #suite = doctest.DocFileSuite('tests/moving.txt')
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
277 suite = doctest.DocTestSuite()
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
278 unittest.TextTestRunner().run(suite)
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
279