Mercurial Hosting > traffic-intelligence
changeset 661:dc70d9e711f5
some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Mon, 18 May 2015 13:53:25 +0200 |
| parents | 994dd644f6ab |
| children | 72174e66aba5 |
| files | python/cvutils.py python/events.py python/indicators.py python/moving.py python/objectsmoothing.py python/prediction.py python/tests/moving.txt |
| diffstat | 7 files changed, 103 insertions(+), 44 deletions(-) [+] |
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--- a/python/cvutils.py Fri May 15 23:09:49 2015 +0200 +++ b/python/cvutils.py Mon May 18 13:53:25 2015 +0200 @@ -238,11 +238,12 @@ 'Computes the bounding box of object at frameNum' x = [] y = [] - for f in obj.features: - if f.existsAtInstant(frameNum): - projectedPosition = f.getPositionAtInstant(frameNum).project(homography) - x.append(projectedPosition.x) - y.append(projectedPosition.y) + if obj.hasFeatures(): + for f in obj.getFeatures(): + if f.existsAtInstant(frameNum): + projectedPosition = f.getPositionAtInstant(frameNum).project(homography) + x.append(projectedPosition.x) + y.append(projectedPosition.y) xmin = min(x) xmax = max(x) ymin = min(y) @@ -304,7 +305,7 @@ if frameNum in boundingBoxes.keys(): for rect in boundingBoxes[frameNum]: cv2.rectangle(img, rect[0].asint().astuple(), rect[1].asint().astuple(), cvRed) - elif len(obj.features) != 0: + elif obj.hasFeatures(): imgcrop, yCropMin, yCropMax, xCropMin, xCropMax = imageBox(img, obj, frameNum, homography, width, height) cv2.rectangle(img, (xCropMin, yCropMin), (xCropMax, yCropMax), cvBlue, 1) objDescription = '{} '.format(obj.num)
--- a/python/events.py Fri May 15 23:09:49 2015 +0200 +++ b/python/events.py Mon May 18 13:53:25 2015 +0200 @@ -104,6 +104,7 @@ self.categoryNum = categoryNum self.indicators = {} self.interactionInterval = None + self.collisionPoints = None # distionary for collison points with different prediction methods def getRoadUserNumbers(self): return self.roadUserNumbers @@ -128,9 +129,24 @@ return self.indicators.get(indicatorName, None) def addIndicator(self, indicator): - if indicator: + if indicator is not None: self.indicators[indicator.name] = indicator + def getIndicatorValueAtInstant(self, indicatorName, instant): + indicator = self.getIndicator(indicatorName) + if indicator is not None: + return indicator[instant] + else: + return None + + def getIndicatorValuesAtInstant(self, instant): + '''Returns list of indicator values at instant + as dict (with keys from indicators dict)''' + values = {} + for k, indicator in self.indicators.iteritems(): + values[k] = indicator[instant] + return values + def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs) self.roadUser2.plot(options, withOrigin, timeStep, withFeatures, **kwargs) @@ -177,7 +193,7 @@ self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials)) # if we have features, compute other indicators - if len(self.roadUser1.features) != 0 and len(self.roadUser2.features) != 0: + if self.roadUser1.hasFeatures() and self.roadUser2.hasFeatures(): minDistance={} for instant in self.timeInterval: minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) @@ -196,7 +212,9 @@ commonTimeInterval = timeInterval else: commonTimeInterval = self.timeInterval - self.collisionPoints, self.crossingZones = predictionParameters.computeCrossingsCollisions(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) + self.collisionPoints[predictionParameters.name], crossingZones = predictionParameters.computeCrossingsCollisions(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) + if computeCZ: + self.crossingZones[predictionParameters.name] = crossingZones for i, cp in self.collisionPoints.iteritems(): TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) # add probability of collision, and probability of successful evasive action @@ -213,11 +231,24 @@ self.pet = moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold) def addVideoFilename(self,videoFilename): - self.videoFilename= videoFilename + self.videoFilename = videoFilename def addInteractionType(self,interactionType): ''' interaction types: conflict or collision if they are known''' - self.interactionType= interactionType + self.interactionType = interactionType + + def getCrossingZones(self, predictionMethodName): + if self.hasattr(self, 'crossingZones'): + return self.crossingZones[predictionMethodName] + else: + return None + + def getCollisionPoints(self, predictionMethodName): + if self.collisionPoints is not None: + return self.collisionPoints[predictionMethodName] + else: + return None + def createInteractions(objects, _others = None): '''Create all interactions of two co-existing road users'''
--- a/python/indicators.py Fri May 15 23:09:49 2015 +0200 +++ b/python/indicators.py Mon May 18 13:53:25 2015 +0200 @@ -39,10 +39,10 @@ def empty(self): return len(self.values) == 0 - def __getitem__(self, i): - 'Returns ith value in time interval' - if i in self.values.keys(): - return self.values[i] + def __getitem__(self, t): + 'Returns the value at time t' + if t in self.values.keys(): + return self.values[t] else: return None
--- a/python/moving.py Fri May 15 23:09:49 2015 +0200 +++ b/python/moving.py Mon May 18 13:53:25 2015 +0200 @@ -986,7 +986,7 @@ self.velocities = velocities self.geometry = geometry self.userType = userType - self.features = [] + self.features = None # compute bounding polygon from trajectory @staticmethod @@ -1105,6 +1105,18 @@ def setFeatures(self, features): self.features = [features[i] for i in self.featureNumbers] + def getFeatures(self): + return self.features + + def hasFeatures(self): + return (self.features is not None) + + def getFeature(self, i): + if self.hasFeatures() and i<len(self.features): + return self.features[i] + else: + return None + def getSpeeds(self): return self.getVelocities().norm() @@ -1131,8 +1143,8 @@ return self.positions.getYCoordinates() def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): - if withFeatures: - for f in self.features: + if withFeatures and self.hasFeatures(): + for f in self.getFeatures(): f.positions.plot('r', True, timeStep, **kwargs) self.positions.plot('bx-', True, timeStep, **kwargs) else:
--- a/python/objectsmoothing.py Fri May 15 23:09:49 2015 +0200 +++ b/python/objectsmoothing.py Mon May 18 13:53:25 2015 +0200 @@ -14,14 +14,14 @@ return min(dist, key=dist.get) # = utils.argmaxDict(dist) def getFeatures(obj, featureID): - first = obj.features[featureID].getFirstInstant() - last = obj.features[featureID].getLastInstant() - featureList=[[obj.features[featureID],first,last,moving.Point(0,0)]] + currentFeature = obj.getFeature(featureID) + first = currentFeature.getFirstInstant() + last = currentFeature.getLastInstant() + featureList=[[currentFeature,first,last,moving.Point(0,0)]] # find the features to fill in the beginning of the object existence - currentFeature = obj.features[featureID] while first != obj.getFirstInstant(): delta=featureList[-1][3] - featureSet = [f for f in obj.features if f.existsAtInstant(first-1)] + featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(first-1)] feat = findNearest(currentFeature,featureSet,first-1,reverse=True) if feat.existsAtInstant(first): featureList.append([feat,feat.getFirstInstant(),first-1,(currentFeature.getPositionAtInstant(first)-feat.getPositionAtInstant(first))+delta]) @@ -31,9 +31,9 @@ first= feat.getFirstInstant() # find the features to fill in the end of the object existence delta=moving.Point(0,0) - currentFeature = obj.features[featureID] + currentFeature = obj.getFeature(featureID) # need to reinitialize while last!= obj.getLastInstant(): - featureSet = [f for f in obj.features if f.existsAtInstant(last+1)] + featureSet = [f for f in obj.getFeatures() if f.existsAtInstant(last+1)] feat = findNearest(currentFeature,featureSet,last+1,reverse=False) if feat.existsAtInstant(last): featureList.append([feat,last+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(last)-feat.getPositionAtInstant(last))+delta]) @@ -120,7 +120,7 @@ if create: feature = buildFeature(obj, featureID , num=1) # why num=1 else: - feature = obj.features[featureID] + feature = obj.getFeature(featureID) for t in feature.getTimeInterval(): p1= feature.getPositionAtInstant(t) p2= obj.getPositionAtInstant(t) @@ -180,14 +180,14 @@ The object should have its features in obj.features TODO: check whether features are necessary''' - if len(obj.features) == 0: + if not obj.hasFeatures(): print('Object {} has an empty list of features: please load and add them using obj.setFeatures(features)'.format(obj.getNum())) from sys import exit exit() - featureList=[i for i,f in enumerate(obj.features) if f.length() >= minLengthParam*obj.length()] + featureList=[i for i,f in enumerate(obj.getFeatures()) if f.length() >= minLengthParam*obj.length()] if featureList==[]: - featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.features)})) + featureList.append(utils.argmaxDict({i:f.length() for i,f in enumerate(obj.getFeatures())})) create = True newObjects = [] for featureID in featureList: # featureID should be the index in the list of obj.features @@ -232,14 +232,14 @@ newObj.velocities= obj.velocities newObj.featureNumbers=obj.featureNumbers - newObj.features=obj.features + newObj.features=obj.getFeatures() newObj.userType=obj.userType if plotResults: plt.figure() plt.title('objects_id = {}'.format(obj.num)) for i in featureList: - obj.features[i].plot('cx-') + obj.getFeature(i).plot('cx-') obj.plot('rx-') newObj.plot('gx-') return newObj
--- a/python/prediction.py Fri May 15 23:09:49 2015 +0200 +++ b/python/prediction.py Mon May 18 13:53:25 2015 +0200 @@ -410,8 +410,8 @@ def generatePredictedTrajectories(self, obj, instant): predictedTrajectories = [] - if self.useFeatures: - features = [f for f in obj.features if f.existsAtInstant(instant)] + if self.useFeatures and obj.hadFeatures(): + features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)] positions = [f.getPositionAtInstant(instant) for f in features] velocities = [f.getVelocityAtInstant(instant) for f in features] else: @@ -433,15 +433,19 @@ #self.nPredictedTrajectories = nPredictedTrajectories def generatePredictedTrajectories(self, obj, instant): - predictedTrajectories = [] - features = [f for f in obj.features if f.existsAtInstant(instant)] - positions = [f.getPositionAtInstant(instant) for f in features] - velocities = [f.getVelocityAtInstant(instant) for f in features] - #for i in xrange(self.nPredictedTrajectories): - for initialPosition,initialVelocity in zip(positions, velocities): - predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, - maxSpeed = self.maxSpeed)) - return predictedTrajectories + predictedTrajectories = [] + if obj.hasFeatures(): + features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)] + positions = [f.getPositionAtInstant(instant) for f in features] + velocities = [f.getVelocityAtInstant(instant) for f in features] + #for i in xrange(self.nPredictedTrajectories): + for initialPosition,initialVelocity in zip(positions, velocities): + predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, + maxSpeed = self.maxSpeed)) + return predictedTrajectories + else: + print('Object {} has no features'.format(obj.getNum())) + return None class EvasiveActionPredictionParameters(PredictionParameters): def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False): @@ -463,8 +467,8 @@ def generatePredictedTrajectories(self, obj, instant): predictedTrajectories = [] - if self.useFeatures: - features = [f for f in obj.features if f.existsAtInstant(instant)] + if self.useFeatures and obj.hasFeatures(): + features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)] positions = [f.getPositionAtInstant(instant) for f in features] velocities = [f.getVelocityAtInstant(instant) for f in features] else:
--- a/python/tests/moving.txt Fri May 15 23:09:49 2015 +0200 +++ b/python/tests/moving.txt Mon May 18 13:53:25 2015 +0200 @@ -1,4 +1,5 @@ >>> from moving import * +>>> import storage >>> import numpy as np >>> Interval().empty() @@ -137,6 +138,16 @@ >>> Point.midPoint(p1, p2) (0.500000,0.500000) +>>> objects = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'object') +>>> len(objects) +5 +>>> objects[0].hasFeatures() +False +>>> features = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature') +>>> for o in objects: o.setFeatures(features) +>>> objects[0].hasFeatures() +True + >>> o1 = MovingObject.generate(Point(-5.,0.), Point(1.,0.), TimeInterval(0,10)) >>> o2 = MovingObject.generate(Point(0.,-5.), Point(0.,1.), TimeInterval(0,10)) >>> MovingObject.computePET(o1, o2, 0.1)