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annotate python/events.py @ 601:e1f3b789c632

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add a definition of interaction and collision course intervals
author Mohamed Gomaa
date Thu, 02 May 2013 11:35:45 -0400
parents 414b2e7cd873
children
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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5 import numpy as np
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6 from numpy import arccos
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7
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8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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8 import multiprocessing
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9 import itertools
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10
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f955e83da499 developed indicators in interactions
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11 import moving
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12 import prediction
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13 import indicators
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14
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15 __metaclass__ = type
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16
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17 class Interaction(moving.STObject):
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18 '''Class for an interaction between two road users
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19 or a road user and an obstacle
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20
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21 link to the moving objects
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22 contains the indicators in a dictionary with the names as keys
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23 '''
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24
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25 categories = {'headon': 0,
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26 'rearend': 1,
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27 'side': 2,
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28 'parallel': 3}
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29
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30 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None):
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31 moving.STObject.__init__(self, num, timeInterval)
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32 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
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33 self.movingObject1 = movingObject1
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34 self.movingObject2 = movingObject2
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35 self.categoryNum = categoryNum
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36 self.indicators = {}
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37
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38 def getIndicator(self, indicatorName):
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39 return self.indicators[indicatorName]
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40
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41 def addIndicator(self, indicator):
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42 self.indicators[indicator.name] = indicator
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43
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44 def computeIndicators(self):
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45 '''Computes the collision course cosine only if the cosine is positive'''
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46 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
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47 collisionCourseAngles = {}
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48 distances = {}#[0]*int(self.timeInterval.length())
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49 speedDifferentials = {}
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50 velocityAngle= {}
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51 for instant in self.timeInterval:
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52 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
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53 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
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54 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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55 velocityDotProduct= moving.Point.dot(self.movingObject1.getVelocityAtInstant(instant),self.movingObject2.getVelocityAtInstant(instant))
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56 velocityAngle[instant]= np.arccos(velocityDotProduct/ (self.movingObject1.getVelocityAtInstant(instant).norm2() * self.movingObject2.getVelocityAtInstant(instant).norm2()))
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57 distances[instant] = deltap.norm2()
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58 speedDifferentials[instant] = deltav.norm2()
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59 if collisionCourseDotProducts[instant] > 0:
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60 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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61
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62 # todo shorten the time intervals based on the interaction definition
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63 self.addIndicator(indicators.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts))
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64 self.addIndicator(indicators.SeverityIndicator('Distance', distances))
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65 self.addIndicator(indicators.SeverityIndicator('Speed Differential', speedDifferentials))
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66 self.addIndicator(indicators.SeverityIndicator('Velocity Angle', velocityAngle))
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67 self.addIndicator(indicators.SeverityIndicator('Collision Course Angle', collisionCourseAngles))
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68
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69 # todo test for interaction instants and interval, compute indicators
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70
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71 # if we have features, compute other indicators
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72 if self.movingObject1.features and self.movingObject2.features:
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73 from scipy.spatial.distance import cdist
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74 minDistance={}
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75 for instant in self.timeInterval:
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76 positions1 = [f.getPositionAtInstant(instant).astuple() for f in self.movingObject1.features if f.existsAtInstant(instant)]
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77 positions2 = [f.getPositionAtInstant(instant).astuple() for f in self.movingObject2.features if f.existsAtInstant(instant)]
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78 distance = cdist(positions1, positions2, metric = 'euclidean')
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79 minDistance[instant] = distance.min()
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80 self.addIndicator(indicators.SeverityIndicator('Minimum Distance', minDistance))
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81
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82 def computeCollisionPoints(self, predictionParameters, collisionDistanceThreshold, timeHorizon):
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83 if self.movingObject1.features and self.movingObject2.features:
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84 collisionPoints,crossingZones = prediction.computeCrossingsCollisions(self.movingObject1, self.movingObject2, predictionParameters, collisionDistanceThreshold, timeHorizon,asWholeVehicle=True)
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85 self.addIndicator(indicators.SeverityIndicator('collisionPoints', collisionPoints))
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86 else:
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87 print('Features not associated with objects')
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88
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89 def defineInteractionInterval(self):
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90 ''' interaction defined as the first and last time that the collion course is positive'''
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91 keys=sorted(self.getIndicator('Collision Course Angle').values.keys())
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92 if keys!=[]:
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93 self.interactionInterval= moving.TimeInterval(keys[0],keys[-1])
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94 else:
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95 print('no interaction')
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96 self.interactionInterval=None
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97
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98 def defineCollisionPointInterval(self):
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99 ''' collision point defined as the first and last time that the collion point exist'''
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100 values= self.getIndicator('TTC').values
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101 keys=sorted(values.keys())
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102 #keysReverse=sorted(values.keys(),reverse=True)
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103 keysWithoutinf= [key for key in keys if values[key]!=np.inf]
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104 if keysWithoutinf!=[]:
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105 self.collisionPointInterval= moving.TimeInterval(min(keysWithoutinf),max(keysWithoutinf))
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106 else:
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107 print('no collision points')
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108 self.collisionPointInterval=None
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109
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110 def removeIndicatorExtraValues(self,indicatorName):
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111 ''' refine the indicators value wrt interaction definition'''
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112 self.defineInteractionInterval()
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113 refinedIndicator = {}
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114 if self.interactionInterval!= None:
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115 for i in xrange(self.interactionInterval.first,self.interactionInterval.last+1):
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116 if self.getIndicator(indicatorName).values.get(i)== None:
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117 refinedIndicator[i]= None
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118 else:
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119 refinedIndicator[i]= self.getIndicator(indicatorName).values[i]
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120 self.addIndicator(indicators.SeverityIndicator(str(indicatorName)+' New', refinedIndicator))
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121
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122 def removeIndicatorExtraValuesCP(self,indicatorName):
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123 ''' refine the indicators value wrt interaction definition'''
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124 self.defineCollisionPointInterval()
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125 refinedIndicator = {}
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126 if self.collisionPointInterval!= None:
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127 for i in xrange(self.collisionPointInterval.first,self.collisionPointInterval.last+1):
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128 if self.getIndicator(indicatorName).values.get(i)== None:
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129 refinedIndicator[i]= None
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130 else:
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131 refinedIndicator[i]= self.getIndicator(indicatorName).values[i]
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132 self.addIndicator(indicators.SeverityIndicator(str(indicatorName)+'2', refinedIndicator))
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133
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134 def addVideoFilename(self,videoFilename):
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135 self.videoFilename= videoFilename
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136
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137 def addInteractionType(self,interactionType):
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138 ''' interaction types: conflict or collision if they are known'''
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139 self.interactionType= interactionType
293
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140
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141 def createInteractions(objects):
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142 '''Create all interactions of two co-existing road users
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143
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144 todo add test to compute categories?'''
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145 interactions = []
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146 num = 0
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147 for i in xrange(len(objects)):
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148 for j in xrange(i):
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149 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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150 if not commonTimeInterval.empty():
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151 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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152 num += 1
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153 return interactions
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154
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155
292
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156 # TODO:
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157 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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158 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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159 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
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160 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.movingObject1, pairs.movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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161 #print pairs.num
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162 # Ignore empty collision points
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163 empty = 1
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164 for i in collisionPoints:
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165 if(collisionPoints[i] != []):
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166 empty = 0
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167 if(empty == 1):
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168 pairs.hasCP = 0
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169 else:
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170 pairs.hasCP = 1
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171 pairs.CP = collisionPoints
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172
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173 # Ignore empty crossing zones
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174 empty = 1
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175 for i in crossingZones:
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176 if(crossingZones[i] != []):
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177 empty = 0
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178 if(empty == 1):
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179 pairs.hasCZ = 0
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180 else:
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181 pairs.hasCZ = 1
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182 pairs.CZ = crossingZones
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183 return pairs
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184
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185 def calculateIndicatorPipe_star(a_b):
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186 """Convert `f([1,2])` to `f(1,2)` call."""
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187 return calculateIndicatorPipe(*a_b)
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188
291
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189 class VehPairs():
293
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190 '''Create a veh-pairs object from objects list'''
291
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191 def __init__(self,objects):
293
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192 self.pairs = createInteractions(objects)
292
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193 self.interactionCount = 0
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194 self.CPcount = 0
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195 self.CZcount = 0
291
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196
292
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197 # Process indicator calculation with support for multi-threading
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198 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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199 if(threads > 1):
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200 pool = multiprocessing.Pool(threads)
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201 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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202 pool.close()
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203 else:
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204 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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205 for j in xrange(len(self.pairs)):
292
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206 #prog.updateAmount(j) #Removed in traffic-intelligenc port
291
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207 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].movingObject1, self.pairs[j].movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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208
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209 # Ignore empty collision points
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210 empty = 1
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211 for i in collisionPoints:
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212 if(collisionPoints[i] != []):
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213 empty = 0
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214 if(empty == 1):
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215 self.pairs[j].hasCP = 0
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216 else:
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217 self.pairs[j].hasCP = 1
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218 self.pairs[j].CP = collisionPoints
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219
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220 # Ignore empty crossing zones
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221 empty = 1
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222 for i in crossingZones:
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223 if(crossingZones[i] != []):
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224 empty = 0
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225 if(empty == 1):
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226 self.pairs[j].hasCZ = 0
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227 else:
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228 self.pairs[j].hasCZ = 1
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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229 self.pairs[j].CZ = crossingZones
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230
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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231 for j in self.pairs:
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232 self.interactionCount = self.interactionCount + len(j.CP)
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233 self.CPcount = len(self.getCPlist())
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234 self.Czcount = len(self.getCZlist())
291
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235
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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236
291
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237 def getPairsWCP(self):
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238 lists = []
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239 for j in self.pairs:
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240 if(j.hasCP):
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241 lists.append(j.num)
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242 return lists
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243
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244 def getPairsWCZ(self):
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245 lists = []
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246 for j in self.pairs:
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247 if(j.hasCZ):
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248 lists.append(j.num)
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249 return lists
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250
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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251 def getCPlist(self,indicatorThreshold=99999):
291
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252 lists = []
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253 for j in self.pairs:
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254 if(j.hasCP):
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diff changeset
255 for k in j.CP:
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
256 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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257 lists.append([k,j.CP[k][0]])
291
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diff changeset
258 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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259
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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diff changeset
260 def getCZlist(self,indicatorThreshold=99999):
291
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261 lists = []
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262 for j in self.pairs:
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263 if(j.hasCZ):
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diff changeset
264 for k in j.CZ:
292
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diff changeset
265 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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diff changeset
266 lists.append([k,j.CZ[k][0]])
291
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diff changeset
267 return lists
292
8b2c8a4015f1 class VehPairs updated. Now supports primitive multithreading.
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268
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diff changeset
269 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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diff changeset
270 if(not CPlist):
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diff changeset
271 CPlist = self.getCPlist()
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diff changeset
272 if(not CPlist):
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diff changeset
273 return False
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diff changeset
274 TTC_list = []
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275 for i in CPlist:
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diff changeset
276 TTC_list.append(i[1].indicator)
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diff changeset
277 histo = np.histogram(TTC_list,bins=bins)
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diff changeset
278 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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diff changeset
279 return histo
291
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diff changeset
280
59
f955e83da499 developed indicators in interactions
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parents: 56
diff changeset
281 class Crossing(moving.STObject):
56
61fe73df2d36 created new package, moved Interaction class and created Crossing class
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parents:
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282 '''Class for the event of a street crossing
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283
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284 TODO: detecter passage sur la chaussee
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285 identifier origines et destination (ou uniquement chaussee dans FOV)
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286 carac traversee
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287 detecter proximite veh (retirer si trop similaire simultanement
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288 carac interaction'''
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289
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290 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
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291 moving.STObject.__init__(self, num, timeInterval)
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292 self.roaduserNum = roaduserNum
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293
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294
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295
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296 if __name__ == "__main__":
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297 import doctest
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298 import unittest
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299 #suite = doctest.DocFileSuite('tests/moving.txt')
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300 suite = doctest.DocTestSuite()
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301 unittest.TextTestRunner().run(suite)
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302