Mercurial Hosting > traffic-intelligence
changeset 610:0dc36203973d
remove dublicated code for collision/crossing computations
author | MohamedGomaa |
---|---|
date | Wed, 03 Dec 2014 22:57:08 -0500 |
parents | 84690dfe5560 |
children | 233867934190 |
files | python/events.py python/prediction.py |
diffstat | 2 files changed, 57 insertions(+), 80 deletions(-) [+] |
line wrap: on
line diff
--- a/python/events.py Tue Nov 25 22:49:47 2014 -0500 +++ b/python/events.py Wed Dec 03 22:57:08 2014 -0500 @@ -8,12 +8,17 @@ import multiprocessing import itertools -import sys import moving, prediction, indicators, utils -sys.path.append("D:/behaviourAnalysis/libs") import trajLearning __metaclass__ = type +def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True): + route=(obj.startRouteID,obj.endRouteID) + if useDestination: + if route not in prototypes.keys(): + route= trajLearning.findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums) + return route + class Interaction(moving.STObject): '''Class for an interaction between two road users or a road user and an obstacle @@ -126,17 +131,20 @@ minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance)) - def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1): + 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): '''Computes all crossing and collision points at each common instant for two road users. ''' self.collisionPoints={} self.crossingZones={} TTCs = {} + if usePrototypes: + route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) + route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination) if timeInterval: commonTimeInterval = timeInterval else: commonTimeInterval = self.timeInterval - self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses) + 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) for i, cp in self.collisionPoints.iteritems(): TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) # add probability of collision, and probability of successful evasive action @@ -144,70 +152,8 @@ if computeCZ: pPETs = {} - for i in list(commonTimeInterval)[:-1]: - if len(self.crossingZones[i]) > 0: - pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i]) - self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) - - 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): - inter1=moving.Interval(self.roadUser1.timeInterval.first,instant) - inter2=moving.Interval(self.roadUser2.timeInterval.first,instant) - partialObjPositions1= self.roadUser1.getObjectInTimeInterval(inter1).positions - partialObjPositions2= self.roadUser2.getObjectInTimeInterval(inter2).positions - if useSpeedPrototype: - prototypeTrajectories1=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route1,partialObjPositions1,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination) - prototypeTrajectories2=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route2,partialObjPositions2,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination) - else: - prototypeTrajectories1=trajLearning.findPrototypes(prototypes,nMatching,objects,route1,partialObjPositions1,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched) - prototypeTrajectories2=trajLearning.findPrototypes(prototypes,nMatching,objects,route2,partialObjPositions2,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched) - if prototypeTrajectories1=={}: - print self.roadUser1.num, 'is abnormal at instant', str(instant) - return [],[] - elif prototypeTrajectories2=={}: - print self.roadUser2.num, 'is abnormal at instant', str(instant) - return [],[] - else: - currentInstant,collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisionsAtInstant(instant, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2) - return collisionPoints,crossingZones - - 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): - '''Computes all crossing and collision points at each common instant for two road users. ''' - self.collisionPoints={} - self.crossingZones={} - TTCs = {} - route1=(self.roadUser1.startRouteID,self.roadUser1.endRouteID) - route2=(self.roadUser2.startRouteID,self.roadUser2.endRouteID) - if useDestination: - if route1 not in prototypes.keys(): - route1= trajLearning.findRoute(prototypes,objects,route1,self.roadUser1.num,noiseEntryNums,noiseExitNums) - if route2 not in prototypes.keys(): - route2= trajLearning.findRoute(prototypes,objects,route2,self.roadUser2.num,noiseEntryNums,noiseExitNums) - - if timeInterval: - commonTimeInterval = timeInterval - else: - commonTimeInterval = self.timeInterval - reCompute=False - for i in xrange(commonTimeInterval.first,commonTimeInterval.last,step): # incremental calculation of CP,CZ to save time - if i-self.roadUser1.timeInterval.first >= acceptPartialLength and i-self.roadUser2.timeInterval.first >= acceptPartialLength: - 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) - if len(self.collisionPoints[i]) >0 or len(self.crossingZones[i])>0: - reCompute=True - break - if reCompute: - for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors - if i-self.roadUser1.timeInterval.first >= acceptPartialLength and i-self.roadUser2.timeInterval.first >= acceptPartialLength: - 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) - if len(self.collisionPoints[i]) > 0: - TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i]) - # add probability of collision, and probability of successful evasive action - self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs)) - - if computeCZ: - pPETs = {} - for i in list(commonTimeInterval)[:-1]: - if i in self.crossingZones.keys() and len(self.crossingZones[i]) > 0: - pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i]) + for i, cz in self.crossingZones.iteritems(): + pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz) self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) def addVideoFilename(self,videoFilename):
--- a/python/prediction.py Tue Nov 25 22:49:47 2014 -0500 +++ b/python/prediction.py Wed Dec 03 22:57:08 2014 -0500 @@ -5,6 +5,7 @@ import math import random import numpy as np +import trajLearning class PredictedTrajectory: '''Class for predicted trajectories with lazy evaluation @@ -166,14 +167,25 @@ savefig('predicted-trajectories-t-{0}.png'.format(currentInstant)) close() -def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None): +def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True): + partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant) + partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions + if useSpeedPrototype: + prototypeTrajectories=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination) + else: + prototypeTrajectories=trajLearning.findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched) + return prototypeTrajectories + +def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True): '''returns the lists of collision points and crossing zones''' - if prototypeTrajectories1==None: + if usePrototypes: + prototypeTrajectories1=getPrototypeTrajectory(obj1,route1,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) + prototypeTrajectories2= getPrototypeTrajectory(obj2,route2,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) + predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1) + predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2) + else: predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant) predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant) - else: - predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1) - predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2) collisionPoints = [] crossingZones = [] @@ -205,7 +217,7 @@ savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon) return currentInstant,collisionPoints, crossingZones -def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None): +def computeCrossingsCollisions(predictionParams, obj1, obj2, 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): '''Computes all crossing and collision points at each common instant for two road users. ''' collisionPoints={} crossingZones={} @@ -214,8 +226,27 @@ else: commonTimeInterval = obj1.commonTimeInterval(obj2) if nProcesses == 1: + if usePrototypes: + firstInstant= next( (x for x in xrange(commonTimeInterval.first,commonTimeInterval.last) if x-obj1.getFirstInstant() >= acceptPartialLength and x-obj2.getFirstInstant() >= acceptPartialLength), commonTimeInterval.last) + commonTimeIntervalList1= list(xrange(firstInstant,commonTimeInterval.last)) + commonTimeIntervalList2= list(xrange(firstInstant,commonTimeInterval.last,step)) + for i in commonTimeIntervalList2[:-1]: # do not look at the 1 last position/velocities, often with errors + i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) + if len(cp) != 0: + collisionPoints[i] = cp + if len(cz) != 0: + crossingZones[i] = cz + if collisionPoints!={} or crossingZones!={}: + for i in commonTimeIntervalList1[:-1]: + if i not in commonTimeIntervalList2: + i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) + if len(cp) != 0: + collisionPoints[i] = cp + if len(cz) != 0: + crossingZones[i] = cz + for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors - i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2) + i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) if len(cp) != 0: collisionPoints[i] = cp if len(cz) != 0: @@ -223,7 +254,7 @@ else: from multiprocessing import Pool pool = Pool(processes = nProcesses) - jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)) for i in list(commonTimeInterval)[:-1]] + jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)) for i in list(commonTimeInterval)[:-1]] #results = [j.get() for j in jobs] #results.sort() for j in jobs: @@ -247,11 +278,11 @@ def generatePredictedTrajectories(self, obj, instant): return [] - def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None): - return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2) + def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True): + return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype) - def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None): - return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,prototypeTrajectories1,prototypeTrajectories2) + def computeCrossingsCollisions(self, obj1, obj2, 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): + return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step) def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None): '''Computes only collision probabilities