Mercurial Hosting > traffic-intelligence
comparison python/event.py @ 293:ee3302528cdc
rearranged new code by Paul (works now)
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 08 Feb 2013 18:13:29 -0500 |
parents | 8b2c8a4015f1 |
children | 1f253f218b9f |
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292:8b2c8a4015f1 | 293:ee3302528cdc |
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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) |