Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 601:e1f3b789c632
add a definition of interaction and collision course intervals
author | Mohamed Gomaa |
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date | Thu, 02 May 2013 11:35:45 -0400 |
parents | 414b2e7cd873 |
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rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for events |
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3 Interactions, pedestrian crossing...''' |
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4 |
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5 import numpy as np |
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6 from numpy import arccos |
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7 |
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8 import multiprocessing |
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9 import itertools |
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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 |
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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 |
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189 class VehPairs(): |
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190 '''Create a veh-pairs object from objects list''' |
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191 def __init__(self,objects): |
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192 self.pairs = createInteractions(objects) |
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193 self.interactionCount = 0 |
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194 self.CPcount = 0 |
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195 self.CZcount = 0 |
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196 |
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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)): |
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206 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
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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 |
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229 self.pairs[j].CZ = crossingZones |
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230 |
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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()) |
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235 |
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236 |
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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
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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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255 for k in j.CP: |
292
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256 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
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257 lists.append([k,j.CP[k][0]]) |
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258 return lists |
292
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259 |
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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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264 for k in j.CZ: |
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265 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
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266 lists.append([k,j.CZ[k][0]]) |
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267 return lists |
292
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268 |
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269 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
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270 if(not CPlist): |
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271 CPlist = self.getCPlist() |
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272 if(not CPlist): |
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273 return False |
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274 TTC_list = [] |
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275 for i in CPlist: |
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276 TTC_list.append(i[1].indicator) |
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277 histo = np.histogram(TTC_list,bins=bins) |
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278 histo += (histo[0].astype(float)/np.sum(histo[0]),) |
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279 return histo |
291
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280 |
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281 class Crossing(moving.STObject): |
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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 |