Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 321:a5e40bd04cf4
rearranged LCSS indicator functions
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 07 May 2013 02:02:55 +0200 |
parents | 419f30491a4b |
children | 6c9c7c956926 |
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 |
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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 distances = {}#[0]*int(self.timeInterval.length()) |
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56 speedDifferentials = {} |
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57 for instant in self.timeInterval: |
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58 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant) |
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59 deltav = self.roadUser2.getVelocityAtInstant(instant)-self.roadUser1.getVelocityAtInstant(instant) |
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60 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav) |
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61 distances[instant] = deltap.norm2() |
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62 speedDifferentials[instant] = deltav.norm2() |
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63 #if collisionCourseDotProducts[instant] > 0: |
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64 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])) |
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65 |
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66 # todo shorten the time intervals based on the interaction definition |
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67 self.addIndicator(indicators.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts)) |
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68 self.addIndicator(indicators.SeverityIndicator('Collision Course Angle', collisionCourseAngles)) |
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69 self.addIndicator(indicators.SeverityIndicator('Distance', distances)) |
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70 self.addIndicator(indicators.SeverityIndicator('Speed Differential', speedDifferentials)) |
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71 |
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72 # todo test for interaction instants and interval, compute indicators |
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73 |
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74 # if we have features, compute other indicators |
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75 if self.roadUser1.features and self.roadUser2.features: |
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76 from scipy.spatial.distance import cdist |
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77 minDistance={} |
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78 for instant in self.timeInterval: |
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79 positions1 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser1.features if f.existsAtInstant(instant)] |
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80 positions2 = [f.getPositionAtInstant(instant).astuple() for f in self.roadUser2.features if f.existsAtInstant(instant)] |
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81 distance = cdist(positions1, positions2, metric = 'euclidean') |
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82 minDistance[instant] = distance.min() |
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83 self.addIndicator(indicators.SeverityIndicator('Minimum Distance', minDistance)) |
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84 |
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85 def computeCollisionPoints(self, predictionParameters, collisionDistanceThreshold, timeHorizon): |
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86 if self.roadUser1.features and self.roadUser2.features: |
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87 collisionPoints = prediction.computeCollisions(self.roadUser1, self.roadUser2, predictionParameters, collisionDistanceThreshold, timeHorizon) |
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88 self.addIndicator(indicators.SeverityIndicator('Collision Points', collisionPoints)) |
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89 else: |
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90 print('Features not associated with objects') |
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91 |
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92 def addVideoFilename(self,videoFilename): |
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93 self.videoFilename= videoFilename |
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94 |
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95 def addInteractionType(self,interactionType): |
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96 ''' interaction types: conflict or collision if they are known''' |
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97 self.interactionType= interactionType |
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98 |
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99 def createInteractions(objects): |
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100 '''Create all interactions of two co-existing road users |
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101 |
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102 todo add test to compute categories?''' |
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103 interactions = [] |
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104 num = 0 |
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105 for i in xrange(len(objects)): |
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106 for j in xrange(i): |
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107 commonTimeInterval = objects[i].commonTimeInterval(objects[j]) |
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108 if not commonTimeInterval.empty(): |
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109 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j])) |
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110 num += 1 |
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111 return interactions |
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112 |
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113 |
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114 # TODO: |
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115 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class |
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116 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 |
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117 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): |
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118 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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119 #print pairs.num |
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120 # Ignore empty collision points |
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121 empty = 1 |
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122 for i in collisionPoints: |
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123 if(collisionPoints[i] != []): |
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124 empty = 0 |
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125 if(empty == 1): |
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126 pairs.hasCP = 0 |
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127 else: |
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128 pairs.hasCP = 1 |
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129 pairs.CP = collisionPoints |
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130 |
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131 # Ignore empty crossing zones |
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132 empty = 1 |
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133 for i in crossingZones: |
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134 if(crossingZones[i] != []): |
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135 empty = 0 |
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136 if(empty == 1): |
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137 pairs.hasCZ = 0 |
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138 else: |
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139 pairs.hasCZ = 1 |
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140 pairs.CZ = crossingZones |
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141 return pairs |
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142 |
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143 def calculateIndicatorPipe_star(a_b): |
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144 """Convert `f([1,2])` to `f(1,2)` call.""" |
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145 return calculateIndicatorPipe(*a_b) |
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146 |
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147 class VehPairs(): |
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148 '''Create a veh-pairs object from objects list''' |
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149 def __init__(self,objects): |
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150 self.pairs = createInteractions(objects) |
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151 self.interactionCount = 0 |
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152 self.CPcount = 0 |
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153 self.CZcount = 0 |
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154 |
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155 # Process indicator calculation with support for multi-threading |
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156 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): |
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157 if(threads > 1): |
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158 pool = multiprocessing.Pool(threads) |
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159 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam))) |
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160 pool.close() |
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161 else: |
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162 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port |
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163 for j in xrange(len(self.pairs)): |
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164 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
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165 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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166 |
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167 # Ignore empty collision points |
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168 empty = 1 |
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169 for i in collisionPoints: |
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170 if(collisionPoints[i] != []): |
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171 empty = 0 |
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172 if(empty == 1): |
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173 self.pairs[j].hasCP = 0 |
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174 else: |
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175 self.pairs[j].hasCP = 1 |
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176 self.pairs[j].CP = collisionPoints |
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177 |
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178 # Ignore empty crossing zones |
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179 empty = 1 |
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180 for i in crossingZones: |
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181 if(crossingZones[i] != []): |
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182 empty = 0 |
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183 if(empty == 1): |
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184 self.pairs[j].hasCZ = 0 |
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185 else: |
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186 self.pairs[j].hasCZ = 1 |
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187 self.pairs[j].CZ = crossingZones |
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188 |
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189 for j in self.pairs: |
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190 self.interactionCount = self.interactionCount + len(j.CP) |
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191 self.CPcount = len(self.getCPlist()) |
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192 self.Czcount = len(self.getCZlist()) |
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193 |
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194 |
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195 def getPairsWCP(self): |
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196 lists = [] |
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197 for j in self.pairs: |
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198 if(j.hasCP): |
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199 lists.append(j.num) |
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200 return lists |
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201 |
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202 def getPairsWCZ(self): |
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203 lists = [] |
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204 for j in self.pairs: |
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205 if(j.hasCZ): |
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206 lists.append(j.num) |
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207 return lists |
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208 |
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209 def getCPlist(self,indicatorThreshold=99999): |
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210 lists = [] |
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211 for j in self.pairs: |
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212 if(j.hasCP): |
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213 for k in j.CP: |
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214 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
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215 lists.append([k,j.CP[k][0]]) |
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216 return lists |
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217 |
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218 def getCZlist(self,indicatorThreshold=99999): |
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219 lists = [] |
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220 for j in self.pairs: |
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221 if(j.hasCZ): |
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222 for k in j.CZ: |
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223 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
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224 lists.append([k,j.CZ[k][0]]) |
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225 return lists |
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226 |
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227 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
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228 if(not CPlist): |
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229 CPlist = self.getCPlist() |
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230 if(not CPlist): |
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231 return False |
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232 TTC_list = [] |
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233 for i in CPlist: |
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234 TTC_list.append(i[1].indicator) |
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235 histo = np.histogram(TTC_list,bins=bins) |
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236 histo += (histo[0].astype(float)/np.sum(histo[0]),) |
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237 return histo |
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238 |
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239 class Crossing(moving.STObject): |
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240 '''Class for the event of a street crossing |
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241 |
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242 TODO: detecter passage sur la chaussee |
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243 identifier origines et destination (ou uniquement chaussee dans FOV) |
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244 carac traversee |
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245 detecter proximite veh (retirer si trop similaire simultanement |
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246 carac interaction''' |
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247 |
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248 def __init__(self, roaduserNum = None, num = None, timeInterval = None): |
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249 moving.STObject.__init__(self, num, timeInterval) |
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250 self.roaduserNum = roaduserNum |
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251 |
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252 |
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253 |
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254 if __name__ == "__main__": |
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255 import doctest |
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256 import unittest |
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257 #suite = doctest.DocFileSuite('tests/moving.txt') |
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258 suite = doctest.DocTestSuite() |
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259 unittest.TextTestRunner().run(suite) |
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260 |