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annotate python/event.py @ 293:ee3302528cdc

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rearranged new code by Paul (works now)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 08 Feb 2013 18:13:29 -0500
parents 8b2c8a4015f1
children 1f253f218b9f
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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
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7 import multiprocessing
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8 import itertools
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9
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f955e83da499 developed indicators in interactions
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10 import moving
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11 import prediction
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12
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13 __metaclass__ = type
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14
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15 class Interaction(moving.STObject):
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16 '''Class for an interaction between two road users
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17 or a road user and an obstacle
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18
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19 link to the moving objects
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20 '''
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21
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22 categories = {'headon': 0,
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23 'rearend': 1,
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24 'side': 2,
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25 'parallel': 3}
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26
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27 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None):
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28 moving.STObject.__init__(self, num, timeInterval)
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29 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
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30 self.movingObject1 = movingObject1
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31 self.movingObject2 = movingObject2
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32 self.categoryNum = categoryNum
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33
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34 def getIndicator(self, indicatorName):
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35 if hasattr(self, 'indicators'):
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36 for i in self.indicators:
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37 if i.name == indicatorName:
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38 return i
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39 else:
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40 return None
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41
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42 def computeIndicators(self):
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43 '''Computes the collision course cosine only if the cosine is positive'''
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44 collisionCourseDotProduct = [0]*int(self.timeInterval.length())
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45 collisionCourseCosine = {}
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46 distances = [0]*int(self.timeInterval.length())
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47 for i,instant in enumerate(self.timeInterval):
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48 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
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49 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
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50 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav)
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51 distances[i] = deltap.norm2()
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52 if collisionCourseDotProduct[i] > 0:
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53 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2())
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54 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval),
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55 moving.SeverityIndicator('Distances', distances, self.timeInterval),
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56 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)]
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57
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58
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59 def createInteractions(objects):
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60 '''Create all interactions of two co-existing road users
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61
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62 todo add test to compute categories?'''
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63 interactions = []
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64 num = 0
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65 for i in xrange(len(objects)):
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66 for j in xrange(i):
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67 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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68 if not commonTimeInterval.empty():
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69 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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70 num += 1
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71 return interactions
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72
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73
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74 # TODO:
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75 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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76 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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77 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
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78 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.movingObject1, pairs.movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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79 #print pairs.num
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80 # Ignore empty collision points
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81 empty = 1
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82 for i in collisionPoints:
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83 if(collisionPoints[i] != []):
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84 empty = 0
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85 if(empty == 1):
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86 pairs.hasCP = 0
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87 else:
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88 pairs.hasCP = 1
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89 pairs.CP = collisionPoints
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90
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91 # Ignore empty crossing zones
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92 empty = 1
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93 for i in crossingZones:
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94 if(crossingZones[i] != []):
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95 empty = 0
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96 if(empty == 1):
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97 pairs.hasCZ = 0
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98 else:
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99 pairs.hasCZ = 1
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100 pairs.CZ = crossingZones
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101 return pairs
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102
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103 def calculateIndicatorPipe_star(a_b):
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104 """Convert `f([1,2])` to `f(1,2)` call."""
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105 return calculateIndicatorPipe(*a_b)
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106
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107 class VehPairs():
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108 '''Create a veh-pairs object from objects list'''
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109 def __init__(self,objects):
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110 self.pairs = createInteractions(objects)
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111 self.interactionCount = 0
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112 self.CPcount = 0
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113 self.CZcount = 0
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114
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115 # Process indicator calculation with support for multi-threading
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116 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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117 if(threads > 1):
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118 pool = multiprocessing.Pool(threads)
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119 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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120 pool.close()
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121 else:
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122 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
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123 for j in xrange(len(self.pairs)):
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124 #prog.updateAmount(j) #Removed in traffic-intelligenc port
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125 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].movingObject1, self.pairs[j].movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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126
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127 # Ignore empty collision points
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128 empty = 1
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129 for i in collisionPoints:
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130 if(collisionPoints[i] != []):
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131 empty = 0
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132 if(empty == 1):
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133 self.pairs[j].hasCP = 0
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134 else:
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135 self.pairs[j].hasCP = 1
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136 self.pairs[j].CP = collisionPoints
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137
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138 # Ignore empty crossing zones
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139 empty = 1
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140 for i in crossingZones:
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141 if(crossingZones[i] != []):
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142 empty = 0
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143 if(empty == 1):
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144 self.pairs[j].hasCZ = 0
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145 else:
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146 self.pairs[j].hasCZ = 1
292
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147 self.pairs[j].CZ = crossingZones
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148
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149 for j in self.pairs:
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150 self.interactionCount = self.interactionCount + len(j.CP)
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151 self.CPcount = len(self.getCPlist())
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152 self.Czcount = len(self.getCZlist())
291
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153
292
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154
291
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155 def getPairsWCP(self):
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156 lists = []
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157 for j in self.pairs:
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158 if(j.hasCP):
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159 lists.append(j.num)
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160 return lists
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161
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162 def getPairsWCZ(self):
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163 lists = []
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164 for j in self.pairs:
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165 if(j.hasCZ):
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166 lists.append(j.num)
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167 return lists
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168
292
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169 def getCPlist(self,indicatorThreshold=99999):
291
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170 lists = []
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171 for j in self.pairs:
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172 if(j.hasCP):
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173 for k in j.CP:
292
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174 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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175 lists.append([k,j.CP[k][0]])
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176 return lists
292
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177
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178 def getCZlist(self,indicatorThreshold=99999):
291
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179 lists = []
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180 for j in self.pairs:
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181 if(j.hasCZ):
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182 for k in j.CZ:
292
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183 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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184 lists.append([k,j.CZ[k][0]])
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185 return lists
292
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186
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187 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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188 if(not CPlist):
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189 CPlist = self.getCPlist()
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190 if(not CPlist):
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191 return False
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192 TTC_list = []
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193 for i in CPlist:
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194 TTC_list.append(i[1].indicator)
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195 histo = np.histogram(TTC_list,bins=bins)
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196 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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197 return histo
291
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198
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199 class Crossing(moving.STObject):
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200 '''Class for the event of a street crossing
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201
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202 TODO: detecter passage sur la chaussee
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203 identifier origines et destination (ou uniquement chaussee dans FOV)
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204 carac traversee
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205 detecter proximite veh (retirer si trop similaire simultanement
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206 carac interaction'''
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207
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208 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
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209 moving.STObject.__init__(self, num, timeInterval)
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210 self.roaduserNum = roaduserNum
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211
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212
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213
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214 if __name__ == "__main__":
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215 import doctest
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216 import unittest
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217 #suite = doctest.DocFileSuite('tests/moving.txt')
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218 suite = doctest.DocTestSuite()
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219 unittest.TextTestRunner().run(suite)
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220