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comparison 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
comparison
equal deleted inserted replaced
292:8b2c8a4015f1 293:ee3302528cdc
1 #! /usr/bin/env python 1 #! /usr/bin/env python
2 '''Libraries for events 2 '''Libraries for events
3 Interactions, pedestrian crossing...''' 3 Interactions, pedestrian crossing...'''
4 4
5 ## Native 5 import numpy as np
6
6 import multiprocessing 7 import multiprocessing
7 import itertools 8 import itertools
8 #import utils; 9
9 import numpy as np
10 import moving 10 import moving
11 import prediction 11 import prediction
12 12
13 __metaclass__ = type 13 __metaclass__ = type
14
15 class Interaction(moving.STObject):
16 '''Class for an interaction between two road users
17 or a road user and an obstacle
18
19 link to the moving objects
20 '''
21
22 categories = {'headon': 0,
23 'rearend': 1,
24 'side': 2,
25 'parallel': 3}
26
27 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None):
28 moving.STObject.__init__(self, num, timeInterval)
29 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
30 self.movingObject1 = movingObject1
31 self.movingObject2 = movingObject2
32 self.categoryNum = categoryNum
33
34 def getIndicator(self, indicatorName):
35 if hasattr(self, 'indicators'):
36 for i in self.indicators:
37 if i.name == indicatorName:
38 return i
39 else:
40 return None
41
42 def computeIndicators(self):
43 '''Computes the collision course cosine only if the cosine is positive'''
44 collisionCourseDotProduct = [0]*int(self.timeInterval.length())
45 collisionCourseCosine = {}
46 distances = [0]*int(self.timeInterval.length())
47 for i,instant in enumerate(self.timeInterval):
48 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
49 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
50 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav)
51 distances[i] = deltap.norm2()
52 if collisionCourseDotProduct[i] > 0:
53 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2())
54 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval),
55 moving.SeverityIndicator('Distances', distances, self.timeInterval),
56 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)]
57
58
59 def createInteractions(objects):
60 '''Create all interactions of two co-existing road users
61
62 todo add test to compute categories?'''
63 interactions = []
64 num = 0
65 for i in xrange(len(objects)):
66 for j in xrange(i):
67 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
68 if not commonTimeInterval.empty():
69 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
70 num += 1
71 return interactions
72
14 73
15 # TODO: 74 # TODO:
16 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class 75 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class
17 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 76 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90
18 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): 77 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8):
44 def calculateIndicatorPipe_star(a_b): 103 def calculateIndicatorPipe_star(a_b):
45 """Convert `f([1,2])` to `f(1,2)` call.""" 104 """Convert `f([1,2])` to `f(1,2)` call."""
46 return calculateIndicatorPipe(*a_b) 105 return calculateIndicatorPipe(*a_b)
47 106
48 class VehPairs(): 107 class VehPairs():
49 # Create a veh-pairs object from objects list 108 '''Create a veh-pairs object from objects list'''
50 def __init__(self,objects): 109 def __init__(self,objects):
51 ''' 110 self.pairs = createInteractions(objects)
52 Create all pairs of two co-existing road users
53 TODO: add test to compute categories?
54 '''
55 self.pairs = []
56 self.interactionCount = 0 111 self.interactionCount = 0
57 self.CPcount = 0 112 self.CPcount = 0
58 self.CZcount = 0 113 self.CZcount = 0
59 num = 0
60 for i in xrange(len(objects)):
61 for j in xrange(i):
62 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
63 if not commonTimeInterval.empty():
64 self.pairs.append(event.Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
65 num += 1
66 114
67 # Process indicator calculation with support for multi-threading 115 # Process indicator calculation with support for multi-threading
68 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): 116 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8):
69 if(threads > 1): 117 if(threads > 1):
70 pool = multiprocessing.Pool(threads) 118 pool = multiprocessing.Pool(threads)
100 148
101 for j in self.pairs: 149 for j in self.pairs:
102 self.interactionCount = self.interactionCount + len(j.CP) 150 self.interactionCount = self.interactionCount + len(j.CP)
103 self.CPcount = len(self.getCPlist()) 151 self.CPcount = len(self.getCPlist())
104 self.Czcount = len(self.getCZlist()) 152 self.Czcount = len(self.getCZlist())
105 return
106 153
107 154
108 def getPairsWCP(self): 155 def getPairsWCP(self):
109 lists = [] 156 lists = []
110 for j in self.pairs: 157 for j in self.pairs:
147 TTC_list.append(i[1].indicator) 194 TTC_list.append(i[1].indicator)
148 histo = np.histogram(TTC_list,bins=bins) 195 histo = np.histogram(TTC_list,bins=bins)
149 histo += (histo[0].astype(float)/np.sum(histo[0]),) 196 histo += (histo[0].astype(float)/np.sum(histo[0]),)
150 return histo 197 return histo
151 198
152 class Interaction(moving.STObject):
153 '''Class for an interaction between two road users
154 or a road user and an obstacle
155
156 link to the moving objects
157 '''
158
159 categories = {'headon': 0,
160 'rearend': 1,
161 'side': 2,
162 'parallel': 3}
163
164 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None):
165 moving.STObject.__init__(self, num, timeInterval)
166 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
167 self.movingObject1 = movingObject1
168 self.movingObject2 = movingObject2
169 self.categoryNum = categoryNum
170
171 def getIndicator(self, indicatorName):
172 if hasattr(self, 'indicators'):
173 for i in self.indicators:
174 if i.name == indicatorName:
175 return i
176 else:
177 return None
178
179 def computeIndicators(self):
180 '''Computes the collision course cosine only if the cosine is positive'''
181 collisionCourseDotProduct = [0]*int(self.timeInterval.length())
182 collisionCourseCosine = {}
183 distances = [0]*int(self.timeInterval.length())
184 for i,instant in enumerate(self.timeInterval):
185 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
186 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
187 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav)
188 distances[i] = deltap.norm2()
189 if collisionCourseDotProduct[i] > 0:
190 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2())
191 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval),
192 moving.SeverityIndicator('Distances', distances, self.timeInterval),
193 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)]
194
195
196 ######====>BEGIN LEGACY CODE
197 def createInteractions(objects):
198 '''Create all interactions of two co-existing road users
199
200 todo add test to compute categories?'''
201 interactions = []
202 num = 0
203 for i in xrange(len(objects)):
204 for j in xrange(i):
205 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
206 if not commonTimeInterval.empty():
207 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
208 num += 1
209 return interactions
210 #<====END LEGACY CODE#####
211
212
213
214 class Crossing(moving.STObject): 199 class Crossing(moving.STObject):
215 '''Class for the event of a street crossing 200 '''Class for the event of a street crossing
216 201
217 TODO: detecter passage sur la chaussee 202 TODO: detecter passage sur la chaussee
218 identifier origines et destination (ou uniquement chaussee dans FOV) 203 identifier origines et destination (ou uniquement chaussee dans FOV)