Mercurial Hosting > traffic-intelligence
annotate python/event.py @ 284:f2cf16ad798f
added LCSS for trajectories
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 21 Dec 2012 18:33:36 -0500 |
parents | dbe7e53334d7 |
children | 9f81218e497a |
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 utils; |
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6 import moving |
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7 |
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8 __metaclass__ = type |
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9 |
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10 class Interaction(moving.STObject): |
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11 '''Class for an interaction between two road users |
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12 or a road user and an obstacle |
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13 |
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14 link to the moving objects |
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15 ''' |
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16 |
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17 categories = {'headon': 0, |
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18 'rearend': 1, |
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19 'side': 2, |
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20 'parallel': 3} |
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21 |
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22 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None): |
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23 moving.STObject.__init__(self, num, timeInterval) |
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24 self.roaduserNumbers = set([roaduserNum1, roaduserNum2]) |
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25 self.movingObject1 = movingObject1 |
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26 self.movingObject2 = movingObject2 |
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27 self.categoryNum = categoryNum |
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28 |
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29 def getIndicator(self, indicatorName): |
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30 if hasattr(self, 'indicators'): |
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31 for i in self.indicators: |
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32 if i.name == indicatorName: |
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33 return i |
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34 else: |
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35 return None |
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36 |
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37 def computeIndicators(self): |
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38 '''Computes the collision course cosine only if the cosine is positive''' |
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39 collisionCourseDotProduct = [0]*int(self.timeInterval.length()) |
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40 collisionCourseCosine = {} |
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41 distances = [0]*int(self.timeInterval.length()) |
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42 for i,instant in enumerate(self.timeInterval): |
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43 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant) |
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44 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant) |
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45 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav) |
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46 distances[i] = deltap.norm2() |
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47 if collisionCourseDotProduct[i] > 0: |
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48 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2()) |
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49 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval), |
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50 moving.SeverityIndicator('Distances', distances, self.timeInterval), |
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51 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)] |
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52 |
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53 def createInteractions(objects): |
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54 '''Create all interactions of two co-existing road users |
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55 |
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56 todo add test to compute categories?''' |
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57 interactions = [] |
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58 num = 0 |
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59 for i in xrange(len(objects)): |
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60 for j in xrange(i): |
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61 commonTimeInterval = objects[i].commonTimeInterval(objects[j]) |
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62 if not commonTimeInterval.empty(): |
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63 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j])) |
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64 num += 1 |
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65 return interactions |
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66 |
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67 class Crossing(moving.STObject): |
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68 '''Class for the event of a street crossing |
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69 |
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70 TODO: detecter passage sur la chaussee |
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71 identifier origines et destination (ou uniquement chaussee dans FOV) |
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72 carac traversee |
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73 detecter proximite veh (retirer si trop similaire simultanement |
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74 carac interaction''' |
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75 |
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76 def __init__(self, roaduserNum = None, num = None, timeInterval = None): |
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77 moving.STObject.__init__(self, num, timeInterval) |
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78 self.roaduserNum = roaduserNum |
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79 |
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80 |
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81 |
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82 if __name__ == "__main__": |
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83 import doctest |
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84 import unittest |
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85 #suite = doctest.DocFileSuite('tests/moving.txt') |
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86 suite = doctest.DocTestSuite() |
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87 unittest.TextTestRunner().run(suite) |
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88 |