Mercurial Hosting > traffic-intelligence
view 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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#! /usr/bin/env python '''Libraries for events Interactions, pedestrian crossing...''' import numpy as np import multiprocessing import itertools import moving import prediction __metaclass__ = type class Interaction(moving.STObject): '''Class for an interaction between two road users or a road user and an obstacle link to the moving objects ''' categories = {'headon': 0, 'rearend': 1, 'side': 2, 'parallel': 3} def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None): moving.STObject.__init__(self, num, timeInterval) self.roaduserNumbers = set([roaduserNum1, roaduserNum2]) self.movingObject1 = movingObject1 self.movingObject2 = movingObject2 self.categoryNum = categoryNum def getIndicator(self, indicatorName): if hasattr(self, 'indicators'): for i in self.indicators: if i.name == indicatorName: return i else: return None def computeIndicators(self): '''Computes the collision course cosine only if the cosine is positive''' collisionCourseDotProduct = [0]*int(self.timeInterval.length()) collisionCourseCosine = {} distances = [0]*int(self.timeInterval.length()) for i,instant in enumerate(self.timeInterval): deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant) deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant) collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav) distances[i] = deltap.norm2() if collisionCourseDotProduct[i] > 0: collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2()) self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval), moving.SeverityIndicator('Distances', distances, self.timeInterval), moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)] def createInteractions(objects): '''Create all interactions of two co-existing road users todo add test to compute categories?''' interactions = [] num = 0 for i in xrange(len(objects)): for j in xrange(i): commonTimeInterval = objects[i].commonTimeInterval(objects[j]) if not commonTimeInterval.empty(): interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j])) num += 1 return interactions # TODO: #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.movingObject1, pairs.movingObject2, predParam, collisionDistanceThreshold, timeHorizon) #print pairs.num # Ignore empty collision points empty = 1 for i in collisionPoints: if(collisionPoints[i] != []): empty = 0 if(empty == 1): pairs.hasCP = 0 else: pairs.hasCP = 1 pairs.CP = collisionPoints # Ignore empty crossing zones empty = 1 for i in crossingZones: if(crossingZones[i] != []): empty = 0 if(empty == 1): pairs.hasCZ = 0 else: pairs.hasCZ = 1 pairs.CZ = crossingZones return pairs def calculateIndicatorPipe_star(a_b): """Convert `f([1,2])` to `f(1,2)` call.""" return calculateIndicatorPipe(*a_b) class VehPairs(): '''Create a veh-pairs object from objects list''' def __init__(self,objects): self.pairs = createInteractions(objects) self.interactionCount = 0 self.CPcount = 0 self.CZcount = 0 # Process indicator calculation with support for multi-threading def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): if(threads > 1): pool = multiprocessing.Pool(threads) self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam))) pool.close() else: #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port for j in xrange(len(self.pairs)): #prog.updateAmount(j) #Removed in traffic-intelligenc port collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].movingObject1, self.pairs[j].movingObject2, predParam, collisionDistanceThreshold, timeHorizon) # Ignore empty collision points empty = 1 for i in collisionPoints: if(collisionPoints[i] != []): empty = 0 if(empty == 1): self.pairs[j].hasCP = 0 else: self.pairs[j].hasCP = 1 self.pairs[j].CP = collisionPoints # Ignore empty crossing zones empty = 1 for i in crossingZones: if(crossingZones[i] != []): empty = 0 if(empty == 1): self.pairs[j].hasCZ = 0 else: self.pairs[j].hasCZ = 1 self.pairs[j].CZ = crossingZones for j in self.pairs: self.interactionCount = self.interactionCount + len(j.CP) self.CPcount = len(self.getCPlist()) self.Czcount = len(self.getCZlist()) def getPairsWCP(self): lists = [] for j in self.pairs: if(j.hasCP): lists.append(j.num) return lists def getPairsWCZ(self): lists = [] for j in self.pairs: if(j.hasCZ): lists.append(j.num) return lists def getCPlist(self,indicatorThreshold=99999): lists = [] for j in self.pairs: if(j.hasCP): for k in j.CP: if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): lists.append([k,j.CP[k][0]]) return lists def getCZlist(self,indicatorThreshold=99999): lists = [] for j in self.pairs: if(j.hasCZ): for k in j.CZ: if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): lists.append([k,j.CZ[k][0]]) return lists def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): if(not CPlist): CPlist = self.getCPlist() if(not CPlist): return False TTC_list = [] for i in CPlist: TTC_list.append(i[1].indicator) histo = np.histogram(TTC_list,bins=bins) histo += (histo[0].astype(float)/np.sum(histo[0]),) return histo class Crossing(moving.STObject): '''Class for the event of a street crossing TODO: detecter passage sur la chaussee identifier origines et destination (ou uniquement chaussee dans FOV) carac traversee detecter proximite veh (retirer si trop similaire simultanement carac interaction''' def __init__(self, roaduserNum = None, num = None, timeInterval = None): moving.STObject.__init__(self, num, timeInterval) self.roaduserNum = roaduserNum if __name__ == "__main__": import doctest import unittest #suite = doctest.DocFileSuite('tests/moving.txt') suite = doctest.DocTestSuite() unittest.TextTestRunner().run(suite)