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annotate python/events.py @ 731:b02431a8234c dev

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made prototypecluster generic, in ml module, and added randominitialization
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 11 Aug 2015 11:38:05 -0400
parents 4e89341edd29
children 0e875a7f5759
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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
731
b02431a8234c made prototypecluster generic, in ml module, and added randominitialization
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5 import moving, prediction, indicators, utils, cvutils, ml
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6 from 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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8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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10 import multiprocessing
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11 import itertools
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14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180):
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15 if i[0] not in noiseEntryNums:
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16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]]
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17 elif i[1] not in noiseExitNums:
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18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]]
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19 else:
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20 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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21 routeSim={}
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22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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23 for y in prototypesRoutes:
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24 if y in prototypes.keys():
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25 prototypesIDs=prototypes[y]
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26 similarity=[]
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27 for x in prototypesIDs:
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28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
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29 similarity.append(s)
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30 routeSim[y]=max(similarity)
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31 route=max(routeSim, key=routeSim.get)
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32 if routeSim[route]>=minSimilarity:
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33 return route
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34 else:
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35 return i
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36
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37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
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38 route=(obj.startRouteID,obj.endRouteID)
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39 if useDestination:
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40 if route not in prototypes.keys():
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41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
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42 return route
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43
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455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
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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 = {'Head On': 0,
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53 'rearend': 1,
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54 'side': 2,
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55 'parallel': 3}
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56
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57 indicatorNames = ['Collision Course Dot Product',
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58 'Collision Course Angle',
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59 'Distance',
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60 'Minimum Distance',
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61 'Velocity Angle',
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62 'Speed Differential',
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63 'Collision Probability',
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64 'Time to Collision', # 7
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65 'Probability of Successful Evasive Action',
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66 'predicted Post Encroachment Time']
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67
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68 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames)
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69
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70 indicatorShortNames = ['CCDP',
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71 'CCA',
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72 'Dist',
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73 'MinDist',
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74 'VA',
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75 'SD',
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76 'PoC',
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77 'TTC',
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78 'P(SEA)',
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79 'pPET']
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80
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81 indicatorUnits = ['',
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82 'rad',
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83 'm',
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84 'm',
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85 'rad',
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86 'm/s',
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87 '',
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88 's',
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89 '',
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90 '']
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91
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92 timeIndicators = ['Time to Collision', 'predicted Post Encroachment Time']
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93
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94 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None):
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95 moving.STObject.__init__(self, num, timeInterval)
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96 if timeInterval is None and roadUser1 is not None and roadUser2 is not None:
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97 self.timeInterval = roadUser1.commonTimeInterval(roadUser2)
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98 self.roadUser1 = roadUser1
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99 self.roadUser2 = roadUser2
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100 if roaduserNum1 is not None and roaduserNum2 is not None:
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101 self.roadUserNumbers = set([roaduserNum1, roaduserNum2])
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102 elif roadUser1 is not None and roadUser2 is not None:
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103 self.roadUserNumbers = set([roadUser1.getNum(), roadUser2.getNum()])
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104 else:
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105 self.roadUserNumbers = None
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106 self.categoryNum = categoryNum
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107 self.indicators = {}
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108 self.interactionInterval = None
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109 # list for collison points and crossing zones
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110 self.collisionPoints = None
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111 self.crossingZones = None
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112
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113 def getRoadUserNumbers(self):
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114 return self.roadUserNumbers
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115
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116 def setRoadUsers(self, objects):
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117 nums = sorted(list(self.getRoadUserNumbers()))
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118 if nums[0]<len(objects) and objects[nums[0]].getNum() == nums[0]:
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119 self.roadUser1 = objects[nums[0]]
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120 if nums[1]<len(objects) and objects[nums[1]].getNum() == nums[1]:
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121 self.roadUser2 = objects[nums[1]]
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122
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parents: 692
diff changeset
123 if self.roadUser1 is None or self.roadUser2 is None:
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parents: 692
diff changeset
124 self.roadUser1 = None
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parents: 692
diff changeset
125 self.roadUser2 = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
126 i = 0
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parents: 692
diff changeset
127 while i < len(objects) and self.roadUser2 is None:
c4363aa6f0e5 updated function to find road users for interactions
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parents: 692
diff changeset
128 if objects[i].getNum() in nums:
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parents: 692
diff changeset
129 if self.roadUser1 is None:
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parents: 692
diff changeset
130 self.roadUser1 = objects[i]
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parents: 692
diff changeset
131 else:
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parents: 692
diff changeset
132 self.roadUser2 = objects[i]
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parents: 692
diff changeset
133 i += 1
628
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diff changeset
134
293
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diff changeset
135 def getIndicator(self, indicatorName):
321
a5e40bd04cf4 rearranged LCSS indicator functions
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parents: 320
diff changeset
136 return self.indicators.get(indicatorName, None)
294
1f253f218b9f evolution of indicators and their computation in interactions
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parents: 293
diff changeset
137
1f253f218b9f evolution of indicators and their computation in interactions
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diff changeset
138 def addIndicator(self, indicator):
661
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diff changeset
139 if indicator is not None:
321
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parents: 320
diff changeset
140 self.indicators[indicator.name] = indicator
293
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parents: 292
diff changeset
141
661
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parents: 636
diff changeset
142 def getIndicatorValueAtInstant(self, indicatorName, 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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diff changeset
143 indicator = self.getIndicator(indicatorName)
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parents: 636
diff changeset
144 if indicator is not None:
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parents: 636
diff changeset
145 return indicator[instant]
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diff changeset
146 else:
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diff changeset
147 return None
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parents: 636
diff changeset
148
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diff changeset
149 def getIndicatorValuesAtInstant(self, instant):
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150 '''Returns list of indicator values at instant
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diff changeset
151 as dict (with keys from indicators dict)'''
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diff changeset
152 values = {}
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diff changeset
153 for k, indicator in self.indicators.iteritems():
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parents: 636
diff changeset
154 values[k] = indicator[instant]
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parents: 636
diff changeset
155 return values
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parents: 636
diff changeset
156
628
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parents: 627
diff changeset
157 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
158 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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parents: 627
diff changeset
159 self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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parents: 627
diff changeset
160
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
161 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
162 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
163 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
164
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
165 def play(self, videoFilename, homography = None, undistort = False, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1.):
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
166 if self.roadUser1 is not None and self.roadUser2 is not None:
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
167 cvutils.displayTrajectories(videoFilename, [self.roadUser1, self.roadUser2], homography = homography, firstFrameNum = self.getFirstInstant(), lastFrameNumArg = self.getLastInstant(), undistort = undistort, intrinsicCameraMatrix = intrinsicCameraMatrix, distortionCoefficients = distortionCoefficients, undistortedImageMultiplication = undistortedImageMultiplication)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
168 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
169 print('Please set the interaction road user attributes roadUser1 and roadUser1 through the method setRoadUsers')
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
170
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
171 def computeIndicators(self):
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
172 '''Computes the collision course cosine only if the cosine is positive'''
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
173 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
174 collisionCourseAngles = {}
325
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
175 velocityAngles = {}
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
176 distances = {}#[0]*int(self.timeInterval.length())
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
177 speedDifferentials = {}
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
178 interactionInstants = []
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
179 for instant in self.timeInterval:
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
180 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
181 v1 = self.roadUser1.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
182 v2 = self.roadUser2.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
183 deltav = v2-v1
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
184 velocityAngles[instant] = np.arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2()))
299
7e5fb4abd070 renaming event to events and correcting errors in indicator computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 294
diff changeset
185 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
186 distances[instant] = deltap.norm2()
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
187 speedDifferentials[instant] = deltav.norm2()
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
188 if collisionCourseDotProducts[instant] > 0:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
189 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
190 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
191 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
192
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
193 if len(interactionInstants) >= 2:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
194 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
195 else:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
196 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
197 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
198 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
199 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
200 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
201 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
202
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
203 # 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
204 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
205 minDistances={}
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
206 for instant in self.timeInterval:
691
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
207 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
208 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
209
627
82e9f78a4714 added test for location for trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
210 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1, usePrototypes=False, route1= (-1,-1), route2=(-1,-1), prototypes={}, secondStepPrototypes={}, nMatching={}, objects=[], noiseEntryNums=[], noiseExitNums=[], minSimilarity=0.1, mostMatched=None, useDestination=True, useSpeedPrototype=True, acceptPartialLength=30, step=1):
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
211 '''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
212 TTCs = {}
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
213 if usePrototypes:
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
214 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
215 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
216
636
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 632
diff changeset
217 if timeInterval is not None:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
218 commonTimeInterval = timeInterval
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
219 else:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
220 commonTimeInterval = self.timeInterval
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
221 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
558
a80ef6931fd8 updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
222 for i, cp in self.collisionPoints.iteritems():
a80ef6931fd8 updated safety-analysis to test multiprocessing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
223 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
692
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 691
diff changeset
224 if len(TTCs) > 0:
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 691
diff changeset
225 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs, mostSevereIsMax=False))
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
226
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
227 # crossing zones and pPET
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
228 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
229 self.crossingZones = crossingZones
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
230 pPETs = {}
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
231 for i, cz in self.crossingZones.iteritems():
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
232 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
233 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
234 # 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
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235
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236 def computePET(self, collisionDistanceThreshold):
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237 # TODO add crossing zone
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238 self.pet = moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold)
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239
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240 def setCollision(self, collision):
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241 '''indicates if it is a collision: argument should be boolean'''
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242 self.collision = collision
310
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243
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244 def isCollision(self):
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245 if hasattr(self, 'collision'):
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246 return self.collision
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247 else:
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248 return None
661
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249
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250 def getCollisionPoints(self):
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251 return self.collisionPoints
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252
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253 def getCrossingZones(self):
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254 return self.crossingZones
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
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255
487
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256 def createInteractions(objects, _others = None):
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257 '''Create all interactions of two co-existing road users'''
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258 if _others is not None:
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259 others = _others
293
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260
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261 interactions = []
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262 num = 0
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263 for i in xrange(len(objects)):
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264 if _others is None:
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265 others = objects[:i]
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266 for j in xrange(len(others)):
489
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267 commonTimeInterval = objects[i].commonTimeInterval(others[j])
293
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268 if not commonTimeInterval.empty():
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269 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j]))
293
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270 num += 1
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271 return interactions
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272
628
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273 def findInteraction(interactions, roadUserNum1, roadUserNum2):
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274 'Returns the right interaction in the set'
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275 i=0
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276 while i<len(interactions) and set([roadUserNum1, roadUserNum2]) != interactions[i].getRoadUserNumbers():
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277 i+=1
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278 if i<len(interactions):
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279 return interactions[i]
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280 else:
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281 return None
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282
705
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283 def aggregateSafetyPoints(interactions, pointType = 'collision'):
632
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284 '''Put all collision points or crossing zones in a list for display'''
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285 allPoints = []
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286 if pointType == 'collision':
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287 for i in interactions:
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288 for points in i.collisionPoints.values():
632
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289 allPoints += points
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290 elif pointType == 'crossing':
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291 for i in interactions:
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diff changeset
292 for points in i.crossingZones.values():
632
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293 allPoints += points
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294 else:
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295 print('unknown type of point: '+pointType)
632
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296 return allPoints
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297
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diff changeset
298 def prototypeCluster(interactions, similarityMatrix, indicatorName, minSimilarity, minClusterSize = None, randomInitialization = False):
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diff changeset
299 return ml.prototypeCluster([inter.getIndicator(indicatorName) for inter in interactions], similarityMatrix, minSimilarity, minClusterSize, randomInitialization)
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
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diff changeset
300
59
f955e83da499 developed indicators in interactions
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diff changeset
301 class Crossing(moving.STObject):
56
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parents:
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302 '''Class for the event of a street crossing
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303
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parents:
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304 TODO: detecter passage sur la chaussee
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parents:
diff changeset
305 identifier origines et destination (ou uniquement chaussee dans FOV)
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parents:
diff changeset
306 carac traversee
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parents:
diff changeset
307 detecter proximite veh (retirer si trop similaire simultanement
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parents:
diff changeset
308 carac interaction'''
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parents:
diff changeset
309
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diff changeset
310 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
311 moving.STObject.__init__(self, num, timeInterval)
56
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parents:
diff changeset
312 self.roaduserNum = roaduserNum
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parents:
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313
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parents:
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314
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parents:
diff changeset
315
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
316 if __name__ == "__main__":
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parents:
diff changeset
317 import doctest
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parents:
diff changeset
318 import unittest
489
000bddf84ad0 corrected bugs in safety analysis
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parents: 487
diff changeset
319 suite = doctest.DocFileSuite('tests/events.txt')
000bddf84ad0 corrected bugs in safety analysis
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parents: 487
diff changeset
320 #suite = doctest.DocTestSuite()
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
diff changeset
321 unittest.TextTestRunner().run(suite)
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parents:
diff changeset
322