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annotate python/events.py @ 949:d6c1c05d11f5

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modified multithreading at the interaction level for safety computations
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 21 Jul 2017 17:52:56 -0400
parents b1e8453c207c
children 030b16ab4f64
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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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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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10 import multiprocessing
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d6c1c05d11f5 modified multithreading at the interaction level for safety computations
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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.keys():
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25 prototypesIDs=prototypes[y]
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26 similarity=[]
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27 for x in prototypesIDs:
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28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
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29 similarity.append(s)
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30 routeSim[y]=max(similarity)
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31 route=max(routeSim, key=routeSim.get)
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32 if routeSim[route]>=minSimilarity:
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33 return route
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34 else:
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35 return i
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36
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37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
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38 route=(obj.startRouteID,obj.endRouteID)
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39 if useDestination:
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40 if route not in prototypes.keys():
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41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
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42 return route
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43
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44 class Interaction(moving.STObject, 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 '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 'm/s',
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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 timeIndicators = ['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, categoryNum = 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.categoryNum = categoryNum
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110 self.indicators = {}
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111 self.interactionInterval = None
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112 # list for collison points and crossing zones
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113 self.collisionPoints = None
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114 self.crossingZones = None
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115
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116 def getRoadUserNumbers(self):
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117 return self.roadUserNumbers
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118
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119 def setRoadUsers(self, objects):
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120 nums = sorted(list(self.getRoadUserNumbers()))
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121 if nums[0]<len(objects) and objects[nums[0]].getNum() == nums[0]:
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122 self.roadUser1 = objects[nums[0]]
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123 if nums[1]<len(objects) and objects[nums[1]].getNum() == nums[1]:
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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diff changeset
124 self.roadUser2 = objects[nums[1]]
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diff changeset
125
694
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diff changeset
126 if self.roadUser1 is None or self.roadUser2 is None:
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diff changeset
127 self.roadUser1 = None
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diff changeset
128 self.roadUser2 = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
129 i = 0
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diff changeset
130 while i < len(objects) and self.roadUser2 is None:
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parents: 692
diff changeset
131 if objects[i].getNum() in nums:
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parents: 692
diff changeset
132 if self.roadUser1 is None:
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diff changeset
133 self.roadUser1 = objects[i]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
134 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
135 self.roadUser2 = objects[i]
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parents: 692
diff changeset
136 i += 1
628
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diff changeset
137
293
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diff changeset
138 def getIndicator(self, indicatorName):
321
a5e40bd04cf4 rearranged LCSS indicator functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 320
diff changeset
139 return self.indicators.get(indicatorName, None)
294
1f253f218b9f evolution of indicators and their computation in interactions
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parents: 293
diff changeset
140
1f253f218b9f evolution of indicators and their computation in interactions
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diff changeset
141 def addIndicator(self, indicator):
661
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diff changeset
142 if indicator is not None:
321
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diff changeset
143 self.indicators[indicator.name] = indicator
293
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diff changeset
144
661
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diff changeset
145 def getIndicatorValueAtInstant(self, indicatorName, instant):
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diff changeset
146 indicator = self.getIndicator(indicatorName)
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parents: 636
diff changeset
147 if indicator is not None:
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diff changeset
148 return indicator[instant]
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diff changeset
149 else:
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diff changeset
150 return None
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parents: 636
diff changeset
151
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diff changeset
152 def getIndicatorValuesAtInstant(self, instant):
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153 '''Returns list of indicator values at instant
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154 as dict (with keys from indicators dict)'''
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diff changeset
155 values = {}
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diff changeset
156 for k, indicator in self.indicators.iteritems():
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parents: 636
diff changeset
157 values[k] = indicator[instant]
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diff changeset
158 return values
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parents: 636
diff changeset
159
628
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parents: 627
diff changeset
160 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
161 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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parents: 627
diff changeset
162 self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
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diff changeset
163
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 627
diff changeset
164 def plotOnWorldImage(self, nPixelsPerUnitDistance, options = '', withOrigin = False, timeStep = 1, **kwargs):
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parents: 627
diff changeset
165 self.roadUser1.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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parents: 627
diff changeset
166 self.roadUser2.plotOnWorldImage(nPixelsPerUnitDistance, options, withOrigin, timeStep, **kwargs)
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diff changeset
167
887
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
168 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
169 if self.roadUser1 is not None and self.roadUser2 is not None:
887
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
170 if allUserInstants:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
171 firstFrameNum = min(self.roadUser1.getFirstInstant(), self.roadUser2.getFirstInstant())
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parents: 882
diff changeset
172 lastFrameNum = max(self.roadUser1.getLastInstant(), self.roadUser2.getLastInstant())
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
173 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
174 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
175 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
176 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
177 else:
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
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parents: 627
diff changeset
178 print('Please set the interaction road user attributes roadUser1 and roadUser1 through the method setRoadUsers')
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diff changeset
179
293
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
180 def computeIndicators(self):
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
181 '''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
182 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
183 collisionCourseAngles = {}
325
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
184 velocityAngles = {}
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
185 distances = {}#[0]*int(self.timeInterval.length())
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
186 speedDifferentials = {}
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
187 interactionInstants = []
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
188 for instant in self.timeInterval:
320
419f30491a4b renamed fields movingObject to roadUser, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 317
diff changeset
189 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
190 v1 = self.roadUser1.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
191 v2 = self.roadUser2.getVelocityAtInstant(instant)
6c9c7c956926 added velocity angle in indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 321
diff changeset
192 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
193 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
194 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
195 distances[instant] = deltap.norm2()
294
1f253f218b9f evolution of indicators and their computation in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 293
diff changeset
196 speedDifferentials[instant] = deltav.norm2()
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
197 if collisionCourseDotProducts[instant] > 0:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
198 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
199 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
200 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
201
452
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
202 if len(interactionInstants) >= 2:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
203 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
204 else:
c59a47ce0209 reorganized interactioninterval (in compute indicators) and comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 451
diff changeset
205 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
206 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
207 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
208 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
209 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
210 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
211
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
212 # 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
213 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
214 minDistances={}
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
215 for instant in self.timeInterval:
691
fa9aa5f08210 cleaned imports in indicators.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
216 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
217 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
218
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
219 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
220 '''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
221 TTCs = {}
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
222 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
223 if timeInterval is not None:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
224 commonTimeInterval = timeInterval
317
d280b881e860 added indicator min distance
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 310
diff changeset
225 else:
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
226 commonTimeInterval = self.timeInterval
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
227 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval)
937
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
228 for i, cps in self.collisionPoints.iteritems():
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
229 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cps)
b67a784beb69 work started on prototype prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 887
diff changeset
230 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
231 if len(TTCs) > 0:
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 691
diff changeset
232 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
233 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[6], collisionProbabilities))
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
234
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
235 # crossing zones and pPET
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
236 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
237 self.crossingZones = crossingZones
338
f3aceea2afbb first safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 325
diff changeset
238 pPETs = {}
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
239 for i, cz in self.crossingZones.iteritems():
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
240 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
241 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
242 # 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
243
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
244 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
245 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
246 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
247 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
248
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
249 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
250 '''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
251 self.collision = collision
310
f7ca78a11ea6 add functions to add videofilename and interaction type in Interaction class
Mohamed Gomaa
parents: 306
diff changeset
252
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
253 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
254 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
255 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
256 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
257 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
258
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
259 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
260 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
261
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
262 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
263 return self.crossingZones
451
cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 436
diff changeset
264
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
265 def createInteractions(objects, _others = None):
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
266 '''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
267 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
268 others = _others
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
269
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
270 interactions = []
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
271 num = 0
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
272 for i in xrange(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
273 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
274 others = objects[:i]
e04b22ce2fcd generalized createInteractions to 2 lists of objects (for cars and pedestrians for example)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 454
diff changeset
275 for j in xrange(len(others)):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
276 commonTimeInterval = objects[i].commonTimeInterval(others[j])
293
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
277 if not commonTimeInterval.empty():
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
278 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
279 num += 1
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
280 return interactions
ee3302528cdc rearranged new code by Paul (works now)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 292
diff changeset
281
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
282 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
283 '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
284 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
285 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
286 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
287 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
288 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
289 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
290 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
291
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
292 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
293 for inter in interactions:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
294 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
295 inter.computeIndicators()
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
296 if computeMotionPrediction:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
297 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
298 if computePET:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
299 inter.computePET(collisionDistanceTreshold)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
300 return interactions
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
301
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
302 def aggregateSafetyPoints(interactions, pointType = 'collision'):
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
303 '''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
304 allPoints = []
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
305 if pointType == 'collision':
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
306 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
307 for points in i.collisionPoints.values():
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
308 allPoints += points
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
309 elif pointType == 'crossing':
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
310 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
311 for points in i.crossingZones.values():
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
312 allPoints += points
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
313 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
314 print('unknown type of point: '+pointType)
632
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
315 return allPoints
2f1a583bfd20 added utility for safety points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 631
diff changeset
316
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
317 def prototypeCluster(interactions, similarities, indicatorName, minSimilarity, similarityFunc = None, minClusterSize = None, randomInitialization = False):
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
318 return ml.prototypeCluster([inter.getIndicator(indicatorName) for inter in interactions], similarities, minSimilarity, similarityFunc, minClusterSize, randomInitialization)
291
9f81218e497a class VehPairs subsumes createInteractions(objects); legacy code remains
Paul@BEAST-III
parents: 283
diff changeset
319
59
f955e83da499 developed indicators in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
320 class Crossing(moving.STObject):
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
321 '''Class for the event of a street crossing
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
322
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
323 TODO: detecter passage sur la chaussee
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
324 identifier origines et destination (ou uniquement chaussee dans FOV)
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
325 carac traversee
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
326 detecter proximite veh (retirer si trop similaire simultanement
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
327 carac interaction'''
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
328
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
329 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
f955e83da499 developed indicators in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
330 moving.STObject.__init__(self, num, timeInterval)
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
331 self.roaduserNum = roaduserNum
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
332
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
333
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
334
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
335 if __name__ == "__main__":
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
336 import doctest
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
337 import unittest
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
338 suite = doctest.DocFileSuite('tests/events.txt')
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 487
diff changeset
339 #suite = doctest.DocTestSuite()
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
340 unittest.TextTestRunner().run(suite)
61fe73df2d36 created new package, moved Interaction class and created Crossing class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
341