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annotate trafficintelligence/events.py @ 1212:af329f3330ba

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work in progress on 3D safety analysis
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 02 May 2023 17:11:24 -0400
parents 0e5d37b0b9ff
children fe35473acee3
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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 from trafficintelligence import moving, prediction, indicators, utils, cvutils, ml
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6 from trafficintelligence.base import VideoFilenameAddable
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7
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8 import numpy as np
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9
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10 import multiprocessing
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11 import itertools, logging
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12
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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:
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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:
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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, VideoFilenameAddable):
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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 = {'headon': 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 'Post Encroachment Time']
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68
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69 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)
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70
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71 indicatorShortNames = ['CCDP',
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72 'CCA',
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73 'Dist',
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74 'MinDist',
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75 'VA',
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76 'SD',
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77 'PoC',
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78 'TTC',
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79 'P(SEA)',
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80 'pPET',
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81 'PET']
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82
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83 indicatorUnits = ['',
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84 'rad',
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85 'm',
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86 'm',
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87 'rad',
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88 'km/h',
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89 '',
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90 's',
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91 '',
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92 's',
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93 's']
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94
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95 mostSevereIsMinIndicators = ['Distance', 'Time to Collision', 'predicted Post Encroachment Time']
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96
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97 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None):
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98 moving.STObject.__init__(self, num, timeInterval)
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99 if timeInterval is None and roadUser1 is not None and roadUser2 is not None:
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100 self.timeInterval = roadUser1.commonTimeInterval(roadUser2)
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101 self.roadUser1 = roadUser1
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102 self.roadUser2 = roadUser2
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103 if roaduserNum1 is not None and roaduserNum2 is not None:
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104 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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105 elif roadUser1 is not None and roadUser2 is not None:
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106 self.roadUserNumbers = set([roadUser1.getNum(), roadUser2.getNum()])
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107 else:
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108 self.roadUserNumbers = None
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109 self.indicators = {}
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110 self.interactionInterval = None
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111 # list for collison points and crossing zones
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112 self.collisionPoints = None
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113 self.crossingZones = None
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114
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115 def getRoadUserNumbers(self):
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116 return self.roadUserNumbers
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117
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118 def setRoadUsers(self, objects):
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119 nums = sorted(list(self.getRoadUserNumbers()))
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120 if nums[0]<len(objects) and objects[nums[0]].getNum() == nums[0]:
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121 self.roadUser1 = objects[nums[0]]
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122 if nums[1]<len(objects) and objects[nums[1]].getNum() == nums[1]:
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diff changeset
123 self.roadUser2 = objects[nums[1]]
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diff changeset
124
694
c4363aa6f0e5 updated function to find road users for interactions
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parents: 692
diff changeset
125 if self.roadUser1 is None or self.roadUser2 is None:
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parents: 692
diff changeset
126 self.roadUser1 = None
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parents: 692
diff changeset
127 self.roadUser2 = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
128 i = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
129 while i < len(objects) and self.roadUser2 is None:
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parents: 692
diff changeset
130 if objects[i].getNum() in nums:
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parents: 692
diff changeset
131 if self.roadUser1 is None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
132 self.roadUser1 = objects[i]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
133 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
134 self.roadUser2 = objects[i]
c4363aa6f0e5 updated function to find road users for interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
135 i += 1
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
136
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
137 def getIndicator(self, indicatorName):
321
a5e40bd04cf4 rearranged LCSS indicator functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 320
diff changeset
138 return self.indicators.get(indicatorName, None)
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
139
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
140 def addIndicator(self, indicator):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
141 if indicator is not None:
321
a5e40bd04cf4 rearranged LCSS indicator functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 320
diff changeset
142 self.indicators[indicator.name] = indicator
293
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
143
661
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
144 def getIndicatorValueAtInstant(self, indicatorName, instant):
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parents: 636
diff changeset
145 indicator = self.getIndicator(indicatorName)
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parents: 636
diff changeset
146 if indicator is not None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
147 return indicator[instant]
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parents: 636
diff changeset
148 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
149 return None
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
150
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
151 def getIndicatorValuesAtInstant(self, instant):
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diff changeset
152 '''Returns list of indicator values at instant
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diff changeset
153 as dict (with keys from indicators dict)'''
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
154 values = {}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 954
diff changeset
155 for k, indicator in self.indicators.items():
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
156 values[k] = indicator[instant]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
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parents: 636
diff changeset
157 return values
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parents: 636
diff changeset
158
1146
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parents: 1144
diff changeset
159 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, restricted = True, **kwargs):
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parents: 1144
diff changeset
160 if restricted:
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parents: 1144
diff changeset
161 self.roadUser1.getObjectInTimeInterval(self.timeInterval).plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
162 self.roadUser2.getObjectInTimeInterval(self.timeInterval).plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
163 else:
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parents: 1144
diff changeset
164 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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parents: 1144
diff changeset
165 self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
628
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parents: 627
diff changeset
166
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
167 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
168 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
169 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
170
887
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
171 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., allUserInstants = False):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 632
diff changeset
172 if self.roadUser1 is not None and self.roadUser2 is not None:
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
173 if allUserInstants:
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
174 firstFrameNum = min(self.roadUser1.getFirstInstant(), self.roadUser2.getFirstInstant())
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
175 lastFrameNum = max(self.roadUser1.getLastInstant(), self.roadUser2.getLastInstant())
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
176 else:
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
177 firstFrameNum = self.getFirstInstant()
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
178 lastFrameNum = self.getLastInstant()
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
179 cvutils.displayTrajectories(videoFilename, [self.roadUser1, self.roadUser2], homography = homography, firstFrameNum = firstFrameNum, lastFrameNumArg = lastFrameNum, undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
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
180 else:
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
181 print('Please set the interaction road user attributes roadUser1 and roadUser1 through the method setRoadUsers')
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diff changeset
182
293
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
183 def computeIndicators(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
184 '''Computes the collision course cosine only if the cosine is positive'''
1146
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
185 collisionCourseDotProducts = {}
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
186 collisionCourseAngles = {}
325
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
187 velocityAngles = {}
1146
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
188 distances = {}
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
189 speedDifferentials = {}
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
190 interactionInstants = []
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
191 for instant in self.timeInterval:
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
192 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
193 v1 = self.roadUser1.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
194 v2 = self.roadUser2.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
195 deltav = v2-v1
1150
14140b55e580 corrected issue with motion pattern for motion prediction for safety analysis (to few matches)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1149
diff changeset
196 v1Norm = v1.norm2()
14140b55e580 corrected issue with motion pattern for motion prediction for safety analysis (to few matches)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1149
diff changeset
197 v2Norm = v2.norm2()
14140b55e580 corrected issue with motion pattern for motion prediction for safety analysis (to few matches)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1149
diff changeset
198 if v1Norm != 0. and v2Norm != 0.:
14140b55e580 corrected issue with motion pattern for motion prediction for safety analysis (to few matches)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1149
diff changeset
199 velocityAngles[instant] = np.arccos(moving.Point.dot(v1, v2)/(v1Norm*v2Norm))
299
7e5fb4abd070 renaming event to events and correcting errors in indicator computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 294
diff changeset
200 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
201 distances[instant] = deltap.norm2()
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
202 speedDifferentials[instant] = deltav.norm2()
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
203 if collisionCourseDotProducts[instant] > 0:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
204 interactionInstants.append(instant)
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
205 if distances[instant] != 0 and speedDifferentials[instant] != 0:
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
206 collisionCourseAngles[instant] = np.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
207
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
208 if len(interactionInstants) >= 2:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
209 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1])
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
210 else:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
211 self.interactionInterval = moving.TimeInterval()
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
212 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts))
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
213 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles))
691
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
214 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances, mostSevereIsMax = False))
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
215 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles))
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
216 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials))
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
217
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
218 # if we have features, compute other indicators
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
219 if self.roadUser1.hasFeatures() and self.roadUser2.hasFeatures():
691
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
220 minDistances={}
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
221 for instant in self.timeInterval:
691
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
222 minDistances[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
223 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistances, mostSevereIsMax = False))
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
224
1149
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
225 def categorize(self, velocityAngleTolerance, parallelAngleTolerance, headonCollisionCourseAngleTolerance = None):
1146
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
226 '''Computes the interaction category by instant
1157
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
227 all 3 angle arguments in radian
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
228 velocityAngleTolerance: indicates the angle threshold for rear and head on (180-velocityAngleTolerance), as well as the maximum collision course angle for head on (if headonCollisionCourseAngleTolerance is None)
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
229 parallelAngleTolerance: indicates the angle between velocity vector (average for parallel) and position vector
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
230
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
231 an instant may not be categorized if it matches the side definition (angle)
173b7926734e clarifying categorize method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1151
diff changeset
232 but the distance is growing (at least one user is probably past the point of trajectory crossing)'''
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
233 parallelAngleToleranceCosine = np.cos(parallelAngleTolerance)
1149
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
234 if headonCollisionCourseAngleTolerance is None:
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
235 headonCollisionCourseAngleTolerance = velocityAngleTolerance
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
236
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
237 self.categories = {}
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
238 collisionCourseDotProducts = self.getIndicator(Interaction.indicatorNames[0])
1148
eb88d2984637 corrected interaction classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1147
diff changeset
239 collisionCourseAngles = self.getIndicator(Interaction.indicatorNames[1])
1149
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
240 distances = self.getIndicator(Interaction.indicatorNames[2])
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
241 velocityAngles = self.getIndicator(Interaction.indicatorNames[4])
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
242 for instant in self.timeInterval:
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
243 if velocityAngles[instant] < velocityAngleTolerance: # parallel or rear end
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
244 midVelocity = self.roadUser1.getVelocityAtInstant(instant) + self.roadUser2.getVelocityAtInstant(instant)
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
245 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
1149
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
246 if abs(moving.Point.dot(midVelocity, deltap)/(midVelocity.norm2()*distances[instant])) < parallelAngleToleranceCosine:
1146
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
247 self.categories[instant] = Interaction.categories["parallel"]
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
248 else:
b219d5a1bb55 added code to categorize interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1144
diff changeset
249 self.categories[instant] = Interaction.categories["rearend"]
1149
392db62ea1da major bug in categorization, added option for method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1148
diff changeset
250 elif velocityAngles[instant] > np.pi - velocityAngleTolerance and collisionCourseAngles[instant] < headonCollisionCourseAngleTolerance: # head on
1148
eb88d2984637 corrected interaction classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1147
diff changeset
251 self.categories[instant] = Interaction.categories["headon"]
eb88d2984637 corrected interaction classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1147
diff changeset
252 elif collisionCourseDotProducts[instant] > 0:
eb88d2984637 corrected interaction classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1147
diff changeset
253 self.categories[instant] = Interaction.categories["side"]
1144
6a8fe3ed3bc6 bug correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
254
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
255 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
256 '''Computes all crossing and collision points at each common instant for two road users. '''
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
257 TTCs = {}
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
258 collisionProbabilities = {}
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 632
diff changeset
259 if timeInterval is not None:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
260 commonTimeInterval = timeInterval
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
261 else:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
262 commonTimeInterval = self.timeInterval
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
263 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 954
diff changeset
264 for i, cps in self.collisionPoints.items():
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
265 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cps)
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
266 collisionProbabilities[i] = sum([p.probability for p in cps])
692
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 691
diff changeset
267 if len(TTCs) > 0:
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 691
diff changeset
268 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs, mostSevereIsMax=False))
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
269 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[6], collisionProbabilities))
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
270
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
271 # crossing zones and pPET
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
272 if computeCZ:
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
273 self.crossingZones = crossingZones
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
274 pPETs = {}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 954
diff changeset
275 for i, cz in self.crossingZones.items():
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
276 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
277 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False))
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
278 # TODO add probability of collision, and probability of successful evasive action
631
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
279
2d1d33ae1c69 major work on pPET and pet, issues remain for pPET computed with predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
280 def computePET(self, collisionDistanceThreshold):
887
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
281 pet, t1, t2= moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold)
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
282 if pet is not None:
e2452abba0e7 added option to compute PET in safety analysis script, and save in database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
283 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[10], {min(t1, t2): pet}, mostSevereIsMax = False))
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
284
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
285 def setCollision(self, collision):
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
286 '''indicates if it is a collision: argument should be boolean'''
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
287 self.collision = collision
310
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents: 306
diff changeset
288
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
289 def isCollision(self):
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
290 if hasattr(self, 'collision'):
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
291 return self.collision
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
292 else:
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
293 return None
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
294
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
295 def getCollisionPoints(self):
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
296 return self.collisionPoints
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
297
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
298 def getCrossingZones(self):
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
299 return self.crossingZones
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 436
diff changeset
300
1151
658f87232536 extended creation of interactions to non simultaneous objects for PET calculations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1150
diff changeset
301 def createInteractions(objects, _others = None, maxDurationApart = 0):
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
302 '''Create all interactions of two co-existing road users'''
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 632
diff changeset
303 if _others is not None:
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
304 others = _others
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
305
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
306 interactions = []
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
307 num = 0
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 954
diff changeset
308 for i in range(len(objects)):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 632
diff changeset
309 if _others is None:
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
310 others = objects[:i]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 954
diff changeset
311 for j in range(len(others)):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
312 commonTimeInterval = objects[i].commonTimeInterval(others[j])
1151
658f87232536 extended creation of interactions to non simultaneous objects for PET calculations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1150
diff changeset
313 if not commonTimeInterval.empty() or (maxDurationApart > 0 and objects[i].getTimeInterval().distance(objects[j].getTimeInterval()) < maxDurationApart):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
314 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j]))
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
315 num += 1
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
316 return interactions
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
317
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
318 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
319 'Returns the right interaction in the set'
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
320 i=0
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
321 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
322 i+=1
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
323 if i<len(interactions):
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
324 return interactions[i]
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
325 else:
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
326 return None
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
327
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
328 def computeIndicators(interactions, computeMotionPrediction, computePET, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
329 for inter in interactions:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
330 print('processing interaction {}'.format(inter.getNum())) # logging.debug('processing interaction {}'.format(inter.getNum()))
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
331 inter.computeIndicators()
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
332 if computeMotionPrediction:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
333 inter.computeCrossingsCollisions(predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
334 if computePET:
954
030b16ab4f64 bug corrected
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
335 inter.computePET(collisionDistanceThreshold)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
336 return interactions
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
337
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
338 def aggregateSafetyPoints(interactions, pointType = 'collision'):
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
339 '''Put all collision points or crossing zones in a list for display'''
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
340 allPoints = []
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
341 if pointType == 'collision':
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
342 for i in interactions:
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
343 for points in i.collisionPoints.values():
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
344 allPoints += points
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
345 elif pointType == 'crossing':
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
346 for i in interactions:
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
347 for points in i.crossingZones.values():
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
348 allPoints += points
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
349 else:
705
0ceee3b1a96d cleanup crossing collisions and crossing zones in Interaction (not stored per type of prediction method)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 695
diff changeset
350 print('unknown type of point: '+pointType)
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
351 return allPoints
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
352
735
0e875a7f5759 modified prototypeCluster algorithm to enforce similarity when re-assigning and to compute only the necessary similarities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 731
diff changeset
353 def prototypeCluster(interactions, similarities, indicatorName, minSimilarity, similarityFunc = None, minClusterSize = None, randomInitialization = False):
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354 return ml.prototypeCluster([inter.getIndicator(indicatorName) for inter in interactions], similarities, minSimilarity, similarityFunc, minClusterSize, randomInitialization)
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355
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356 class Crossing(moving.STObject):
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357 '''Class for the event of a street crossing
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358
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359 TODO: detecter passage sur la chaussee
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360 identifier origines et destination (ou uniquement chaussee dans FOV)
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361 carac traversee
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362 detecter proximite veh (retirer si trop similaire simultanement
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363 carac interaction'''
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364
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365 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
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366 moving.STObject.__init__(self, num, timeInterval)
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367 self.roaduserNum = roaduserNum
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368
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369
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370
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371 if __name__ == "__main__":
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372 import doctest
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373 import unittest
489
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374 suite = doctest.DocFileSuite('tests/events.txt')
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375 #suite = doctest.DocTestSuite()
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376 unittest.TextTestRunner().run(suite)
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377