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comparison python/events.py @ 610:0dc36203973d

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remove dublicated code for collision/crossing computations
author MohamedGomaa
date Wed, 03 Dec 2014 22:57:08 -0500
parents 84690dfe5560
children 306db0f3c7a2
comparison
equal deleted inserted replaced
607:84690dfe5560 610:0dc36203973d
6 from numpy import arccos 6 from numpy import arccos
7 7
8 import multiprocessing 8 import multiprocessing
9 import itertools 9 import itertools
10 10
11 import sys
12 import moving, prediction, indicators, utils 11 import moving, prediction, indicators, utils
13 sys.path.append("D:/behaviourAnalysis/libs")
14 import trajLearning 12 import trajLearning
15 __metaclass__ = type 13 __metaclass__ = type
14
15 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
16 route=(obj.startRouteID,obj.endRouteID)
17 if useDestination:
18 if route not in prototypes.keys():
19 route= trajLearning.findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
20 return route
16 21
17 class Interaction(moving.STObject): 22 class Interaction(moving.STObject):
18 '''Class for an interaction between two road users 23 '''Class for an interaction between two road users
19 or a road user and an obstacle 24 or a road user and an obstacle
20 25
124 minDistance={} 129 minDistance={}
125 for instant in self.timeInterval: 130 for instant in self.timeInterval:
126 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) 131 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
127 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance)) 132 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
128 133
129 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1): 134 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
130 '''Computes all crossing and collision points at each common instant for two road users. ''' 135 '''Computes all crossing and collision points at each common instant for two road users. '''
131 self.collisionPoints={} 136 self.collisionPoints={}
132 self.crossingZones={} 137 self.crossingZones={}
133 TTCs = {} 138 TTCs = {}
139 if usePrototypes:
140 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
141 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
134 142
135 if timeInterval: 143 if timeInterval:
136 commonTimeInterval = timeInterval 144 commonTimeInterval = timeInterval
137 else: 145 else:
138 commonTimeInterval = self.timeInterval 146 commonTimeInterval = self.timeInterval
139 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses) 147 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
140 for i, cp in self.collisionPoints.iteritems(): 148 for i, cp in self.collisionPoints.iteritems():
141 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) 149 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
142 # add probability of collision, and probability of successful evasive action 150 # add probability of collision, and probability of successful evasive action
143 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs)) 151 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
144 152
145 if computeCZ: 153 if computeCZ:
146 pPETs = {} 154 pPETs = {}
147 for i in list(commonTimeInterval)[:-1]: 155 for i, cz in self.crossingZones.iteritems():
148 if len(self.crossingZones[i]) > 0: 156 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
149 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
150 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
151
152 def computeCrosssingCollisionsPrototypeAtInstant(self, instant,route1,route2,predictionParameters, collisionDistanceThreshold, timeHorizon, prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None, computeCZ = False, debug = False,useDestination=True,useSpeedPrototype=True):
153 inter1=moving.Interval(self.roadUser1.timeInterval.first,instant)
154 inter2=moving.Interval(self.roadUser2.timeInterval.first,instant)
155 partialObjPositions1= self.roadUser1.getObjectInTimeInterval(inter1).positions
156 partialObjPositions2= self.roadUser2.getObjectInTimeInterval(inter2).positions
157 if useSpeedPrototype:
158 prototypeTrajectories1=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route1,partialObjPositions1,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
159 prototypeTrajectories2=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route2,partialObjPositions2,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
160 else:
161 prototypeTrajectories1=trajLearning.findPrototypes(prototypes,nMatching,objects,route1,partialObjPositions1,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
162 prototypeTrajectories2=trajLearning.findPrototypes(prototypes,nMatching,objects,route2,partialObjPositions2,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
163 if prototypeTrajectories1=={}:
164 print self.roadUser1.num, 'is abnormal at instant', str(instant)
165 return [],[]
166 elif prototypeTrajectories2=={}:
167 print self.roadUser2.num, 'is abnormal at instant', str(instant)
168 return [],[]
169 else:
170 currentInstant,collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisionsAtInstant(instant, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)
171 return collisionPoints,crossingZones
172
173 def computeCrossingsCollisionsPrototype2stages(self, predictionParameters, collisionDistanceThreshold, timeHorizon, prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,step=10,minSimilarity=0.1,mostMatched=None, computeCZ = False, debug = False, timeInterval = None,acceptPartialLength=30,useDestination=True,useSpeedPrototype=True):
174 '''Computes all crossing and collision points at each common instant for two road users. '''
175 self.collisionPoints={}
176 self.crossingZones={}
177 TTCs = {}
178 route1=(self.roadUser1.startRouteID,self.roadUser1.endRouteID)
179 route2=(self.roadUser2.startRouteID,self.roadUser2.endRouteID)
180 if useDestination:
181 if route1 not in prototypes.keys():
182 route1= trajLearning.findRoute(prototypes,objects,route1,self.roadUser1.num,noiseEntryNums,noiseExitNums)
183 if route2 not in prototypes.keys():
184 route2= trajLearning.findRoute(prototypes,objects,route2,self.roadUser2.num,noiseEntryNums,noiseExitNums)
185
186 if timeInterval:
187 commonTimeInterval = timeInterval
188 else:
189 commonTimeInterval = self.timeInterval
190 reCompute=False
191 for i in xrange(commonTimeInterval.first,commonTimeInterval.last,step): # incremental calculation of CP,CZ to save time
192 if i-self.roadUser1.timeInterval.first >= acceptPartialLength and i-self.roadUser2.timeInterval.first >= acceptPartialLength:
193 self.collisionPoints[i], self.crossingZones[i] = self.computeCrosssingCollisionsPrototypeAtInstant(i,route1,route2,predictionParameters, collisionDistanceThreshold, timeHorizon, prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched, computeCZ, debug,useDestination,useSpeedPrototype)
194 if len(self.collisionPoints[i]) >0 or len(self.crossingZones[i])>0:
195 reCompute=True
196 break
197 if reCompute:
198 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
199 if i-self.roadUser1.timeInterval.first >= acceptPartialLength and i-self.roadUser2.timeInterval.first >= acceptPartialLength:
200 self.collisionPoints[i], self.crossingZones[i] = self.computeCrosssingCollisionsPrototypeAtInstant(i,route1,route2,predictionParameters, collisionDistanceThreshold, timeHorizon, prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched, computeCZ, debug,useDestination,useSpeedPrototype)
201 if len(self.collisionPoints[i]) > 0:
202 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i])
203 # add probability of collision, and probability of successful evasive action
204 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
205
206 if computeCZ:
207 pPETs = {}
208 for i in list(commonTimeInterval)[:-1]:
209 if i in self.crossingZones.keys() and len(self.crossingZones[i]) > 0:
210 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
211 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) 157 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
212 158
213 def addVideoFilename(self,videoFilename): 159 def addVideoFilename(self,videoFilename):
214 self.videoFilename= videoFilename 160 self.videoFilename= videoFilename
215 161