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add functions to add videofilename and interaction type in Interaction class
author Mohamed Gomaa
date Wed, 03 Apr 2013 22:13:01 -0400
parents 93d851d0d21e
children d280b881e860
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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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8 import multiprocessing
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9 import itertools
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10
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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 collisionCourseCosines = {}
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48 distances = {}#[0]*int(self.timeInterval.length())
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49 speedDifferentials = {}
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50 for instant in self.timeInterval:
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51 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
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52 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
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53 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav)
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54 distances[instant] = deltap.norm2() # todo compute closest feature distance, if features
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55 speedDifferentials[instant] = deltav.norm2()
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56 if collisionCourseDotProducts[instant] > 0:
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57 collisionCourseCosines[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant]))
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58
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59 # todo shorten the time intervals based on the interaction definition
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60 self.addIndicator(indicators.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts))
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61 self.addIndicator(indicators.SeverityIndicator('Distance', distances))
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62 self.addIndicator(indicators.SeverityIndicator('Speed Differential', speedDifferentials))
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63 self.addIndicator(indicators.SeverityIndicator('Collision Course Cosine', collisionCourseCosines))
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64
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65 # todo test for interaction instants and interval, compute indicators
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66
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67 def addVideoFilename(self,videoFilename):
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68 self.videoFilename= videoFilename
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69
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70 def addInteractionType(self,interactionType):
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71 ''' interaction types: conflict or collision if they are known'''
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72 self.interactionType= interactionType
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73
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74 def createInteractions(objects):
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75 '''Create all interactions of two co-existing road users
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76
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77 todo add test to compute categories?'''
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78 interactions = []
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79 num = 0
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80 for i in xrange(len(objects)):
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81 for j in xrange(i):
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82 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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83 if not commonTimeInterval.empty():
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84 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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85 num += 1
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86 return interactions
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87
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88
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89 # TODO:
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90 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
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91 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
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92 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
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93 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.movingObject1, pairs.movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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94 #print pairs.num
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95 # Ignore empty collision points
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96 empty = 1
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97 for i in collisionPoints:
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98 if(collisionPoints[i] != []):
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99 empty = 0
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100 if(empty == 1):
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101 pairs.hasCP = 0
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102 else:
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103 pairs.hasCP = 1
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104 pairs.CP = collisionPoints
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105
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106 # Ignore empty crossing zones
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107 empty = 1
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108 for i in crossingZones:
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109 if(crossingZones[i] != []):
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110 empty = 0
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111 if(empty == 1):
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112 pairs.hasCZ = 0
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113 else:
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114 pairs.hasCZ = 1
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115 pairs.CZ = crossingZones
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116 return pairs
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117
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118 def calculateIndicatorPipe_star(a_b):
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119 """Convert `f([1,2])` to `f(1,2)` call."""
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120 return calculateIndicatorPipe(*a_b)
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121
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122 class VehPairs():
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123 '''Create a veh-pairs object from objects list'''
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124 def __init__(self,objects):
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125 self.pairs = createInteractions(objects)
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126 self.interactionCount = 0
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127 self.CPcount = 0
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128 self.CZcount = 0
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129
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130 # Process indicator calculation with support for multi-threading
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131 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
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132 if(threads > 1):
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133 pool = multiprocessing.Pool(threads)
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134 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam)))
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135 pool.close()
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136 else:
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137 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port
291
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138 for j in xrange(len(self.pairs)):
292
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139 #prog.updateAmount(j) #Removed in traffic-intelligenc port
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140 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].movingObject1, self.pairs[j].movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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141
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142 # Ignore empty collision points
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143 empty = 1
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144 for i in collisionPoints:
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145 if(collisionPoints[i] != []):
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146 empty = 0
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147 if(empty == 1):
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148 self.pairs[j].hasCP = 0
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149 else:
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150 self.pairs[j].hasCP = 1
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151 self.pairs[j].CP = collisionPoints
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152
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153 # Ignore empty crossing zones
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154 empty = 1
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155 for i in crossingZones:
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156 if(crossingZones[i] != []):
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157 empty = 0
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158 if(empty == 1):
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159 self.pairs[j].hasCZ = 0
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160 else:
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161 self.pairs[j].hasCZ = 1
292
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162 self.pairs[j].CZ = crossingZones
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163
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164 for j in self.pairs:
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165 self.interactionCount = self.interactionCount + len(j.CP)
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166 self.CPcount = len(self.getCPlist())
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167 self.Czcount = len(self.getCZlist())
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168
292
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169
291
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170 def getPairsWCP(self):
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171 lists = []
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172 for j in self.pairs:
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173 if(j.hasCP):
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174 lists.append(j.num)
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175 return lists
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176
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177 def getPairsWCZ(self):
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178 lists = []
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179 for j in self.pairs:
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180 if(j.hasCZ):
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181 lists.append(j.num)
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182 return lists
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183
292
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184 def getCPlist(self,indicatorThreshold=99999):
291
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185 lists = []
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186 for j in self.pairs:
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187 if(j.hasCP):
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188 for k in j.CP:
292
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189 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold):
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190 lists.append([k,j.CP[k][0]])
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191 return lists
292
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192
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193 def getCZlist(self,indicatorThreshold=99999):
291
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194 lists = []
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195 for j in self.pairs:
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196 if(j.hasCZ):
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197 for k in j.CZ:
292
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198 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold):
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199 lists.append([k,j.CZ[k][0]])
291
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200 return lists
292
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201
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202 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)):
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203 if(not CPlist):
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204 CPlist = self.getCPlist()
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205 if(not CPlist):
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206 return False
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207 TTC_list = []
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208 for i in CPlist:
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209 TTC_list.append(i[1].indicator)
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210 histo = np.histogram(TTC_list,bins=bins)
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211 histo += (histo[0].astype(float)/np.sum(histo[0]),)
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212 return histo
291
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213
59
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214 class Crossing(moving.STObject):
56
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215 '''Class for the event of a street crossing
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216
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217 TODO: detecter passage sur la chaussee
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218 identifier origines et destination (ou uniquement chaussee dans FOV)
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219 carac traversee
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220 detecter proximite veh (retirer si trop similaire simultanement
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221 carac interaction'''
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222
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223 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
59
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diff changeset
224 moving.STObject.__init__(self, num, timeInterval)
56
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225 self.roaduserNum = roaduserNum
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226
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227
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228
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229 if __name__ == "__main__":
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230 import doctest
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231 import unittest
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232 #suite = doctest.DocFileSuite('tests/moving.txt')
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233 suite = doctest.DocTestSuite()
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234 unittest.TextTestRunner().run(suite)
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235