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annotate trafficintelligence/prediction.py @ 1154:2795d0e114c9

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deal with possibility of prototype with speed 0 that crashes motion prediction
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 09 Sep 2020 16:28:38 -0400
parents 1c59091853e0
children 2064e52019db
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1 #! /usr/bin/env python
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2 '''Library for motion prediction methods'''
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3
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4 import math, random
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5 from copy import copy
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6
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7 import numpy as np
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8
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9 from trafficintelligence import moving
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10 from trafficintelligence.utils import LCSS
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11
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12 class PredictedTrajectory(object):
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13 '''Class for predicted trajectories with lazy evaluation
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14 if the predicted position has not been already computed, compute it
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16 it should also have a probability'''
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17
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18 def __init__(self):
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19 self.probability = 0.
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20 self.predictedPositions = {}
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21 self.predictedSpeedOrientations = {}
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22 #self.collisionPoints = {}
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23 #self.crossingZones = {}
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24
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25 def predictPosition(self, nTimeSteps):
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26 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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27 self.predictPosition(nTimeSteps-1)
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28 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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29 return self.predictedPositions[nTimeSteps]
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30
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31 def getPredictedTrajectory(self):
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32 return moving.Trajectory.fromPointList(list(self.predictedPositions.values()))
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33
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34 def getPredictedSpeeds(self):
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35 return [so.norm for so in self.predictedSpeedOrientations.values()]
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36
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37 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
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38 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
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39
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40 class PredictedTrajectoryConstant(PredictedTrajectory):
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41 '''Predicted trajectory at constant speed or acceleration
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42 TODO generalize by passing a series of velocities/accelerations'''
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43
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44 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
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45 self.control = control
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46 self.maxSpeed = maxSpeed
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47 self.probability = probability
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48 self.predictedPositions = {0: initialPosition}
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49 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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50
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51 def getControl(self):
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52 return self.control
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53
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54 class PredictedTrajectoryPrototype(PredictedTrajectory):
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55 '''Predicted trajectory that follows a prototype trajectory
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56 The prototype is in the format of a moving.Trajectory: it could be
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57 1. an observed trajectory (extracted from video)
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58 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
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59
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60 Prediction can be done
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61 1. at constant speed (the instantaneous user speed)
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62 2. following the trajectory path, at the speed of the user
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63 (applying a constant ratio equal
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64 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
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65
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66 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, nFramesIgnore = 3, probability = 1.):
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67 ''' prototype is a MovingObject
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68
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69 Prediction at constant speed will not work for unrealistic trajectories
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70 that do not follow a slowly changing velocity (eg moving object trajectories,
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71 but is good for realistic motion (eg features)'''
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72 self.valid = True
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73 self.prototype = prototype
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74 self.constantSpeed = constantSpeed
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75 self.nFramesIgnore = nFramesIgnore
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76 self.probability = probability
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77 self.predictedPositions = {0: initialPosition}
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78 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
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79 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
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80 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
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81 self.initialSpeed = initialVelocity.norm2()
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82 if not constantSpeed:
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83 while prototype.getVelocityAt(self.closestPointIdx).norm2() == 0. and self.closestPointIdx < prototype.length():
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84 self.closestPointIdx += 1
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85 if self.closestPointIdx < prototype.length():
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86 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
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87 else:
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88 self.valid = False
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89
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90 def predictPosition(self, nTimeSteps):
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91 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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92 deltaPosition = copy(self.deltaPosition)
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93 if self.constantSpeed:
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94 traj = self.prototype.getPositions()
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95 trajLength = traj.length()
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96 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
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97 i = self.closestPointIdx
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98 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
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99 i += 1
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100 if i == trajLength:
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101 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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102 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
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103 else:
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104 v = self.prototype.getVelocityAt(min(i-1, int(self.prototype.length())-1-self.nFramesIgnore))
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105 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+(traj[i]-traj[i-1])*((traveledDistance-traj.getCumulativeDistance(i-1))/traj.getDistance(i-1))
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106 else:
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107 traj = self.prototype.getPositions()
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108 trajLength = traj.length()
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109 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
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110 i = int(np.floor(nSteps))
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111 if nSteps < trajLength-1:
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112 v = self.prototype.getVelocityAt(min(i, int(self.prototype.length())-1-self.nFramesIgnore))
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113 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
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114 else:
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115 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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116 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[-1]+v*(nSteps-trajLength+1)
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117 return self.predictedPositions[nTimeSteps]
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118
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119 class PredictedTrajectoryRandomControl(PredictedTrajectory):
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120 '''Random vehicle control: suitable for normal adaptation'''
336
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121 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256
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122 '''Constructor
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123 accelerationDistribution and steeringDistribution are distributions
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124 that return random numbers drawn from them'''
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125 self.accelerationDistribution = accelerationDistribution
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126 self.steeringDistribution = steeringDistribution
250
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127 self.maxSpeed = maxSpeed
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128 self.probability = probability
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129 self.predictedPositions = {0: initialPosition}
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130 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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131
256
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132 def getControl(self):
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133 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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134
359
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135 class SafetyPoint(moving.Point):
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136 '''Can represent a collision point or crossing zone
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137 with respective safety indicator, TTC or pPET'''
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138 def __init__(self, p, probability = 1., indicator = -1):
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139 self.x = p.x
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140 self.y = p.y
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141 self.probability = probability
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142 self.indicator = indicator
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143
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144 def __str__(self):
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145 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
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146
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147 @staticmethod
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148 def save(out, points, predictionInstant, objNum1, objNum2):
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149 for p in points:
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150 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
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151
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152 @staticmethod
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153 def computeExpectedIndicator(points):
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154 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359
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155
358
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156 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
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157 '''Computes the first instant
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158 at which two predicted trajectories are within some distance threshold
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159 Computes all the times including timeHorizon
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160
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161 User has to check the first variable collision to know about a collision'''
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162 t = 1
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163 p1 = predictedTrajectory1.predictPosition(t)
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164 p2 = predictedTrajectory2.predictPosition(t)
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165 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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166 while t < timeHorizon and not collision:
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167 t += 1
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168 p1 = predictedTrajectory1.predictPosition(t)
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169 p2 = predictedTrajectory2.predictPosition(t)
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170 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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171 return collision, t, p1, p2
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172
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173 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon, printFigure = True):
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174 from matplotlib.pyplot import figure, axis, title, clf, savefig
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175 if printFigure:
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176 clf()
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177 else:
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178 figure()
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179 for et in predictedTrajectories1:
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180 for t in range(int(np.round(timeHorizon))):
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181 et.predictPosition(t)
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182 et.plot('rx')
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183 for et in predictedTrajectories2:
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184 for t in range(int(np.round(timeHorizon))):
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185 et.predictPosition(t)
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186 et.plot('bx')
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187 obj1.plot('r', withOrigin = True)
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188 obj2.plot('b', withOrigin = True)
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189 title('instant {0}'.format(currentInstant))
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190 axis('equal')
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191 if printFigure:
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192 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
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193
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194 def calculateProbability(nMatching,similarity,objects):
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195 sumFrequencies=sum([nMatching[p] for p in similarity])
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196 prototypeProbability={}
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197 for i in similarity:
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198 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
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199 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability])
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200 probabilities={}
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201 for i in prototypeProbability:
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202 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
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203 return probabilities
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204
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205 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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206 ''' behaviour prediction first step'''
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207 if route[0] not in noiseEntryNums:
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208 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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209 elif route[1] not in noiseExitNums:
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210 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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211 else:
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212 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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213 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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214 similarity={}
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215 for y in prototypesRoutes:
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216 if y in prototypes:
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217 prototypesIDs=prototypes[y]
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218 for x in prototypesIDs:
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219 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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220 if s >= minSimilarity:
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diff changeset
221 similarity[x]=s
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222
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223 if mostMatched==None:
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224 probabilities= calculateProbability(nMatching,similarity,objects)
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225 return probabilities
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226 else:
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227 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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228 keys=[k for k in similarity if similarity[k] in mostMatchedValues]
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229 newSimilarity={}
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230 for i in keys:
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231 newSimilarity[i]=similarity[i]
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diff changeset
232 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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diff changeset
233 return probabilities
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234
613
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235 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
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diff changeset
236 if useDestination:
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diff changeset
237 prototypesRoutes=[route]
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238 else:
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diff changeset
239 if route[0] not in noiseEntryNums:
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diff changeset
240 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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parents: 613
diff changeset
241 elif route[1] not in noiseExitNums:
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diff changeset
242 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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243 else:
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diff changeset
244 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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diff changeset
245 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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diff changeset
246 similarity={}
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247 for y in prototypesRoutes:
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248 if y in prototypes:
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249 prototypesIDs=prototypes[y]
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250 for x in prototypesIDs:
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diff changeset
251 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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252 if s >= minSimilarity:
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diff changeset
253 similarity[x]=s
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254
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diff changeset
255 newSimilarity={}
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parents: 987
diff changeset
256 for i in similarity:
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parents: 987
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257 if i in secondStepPrototypes:
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diff changeset
258 for j in secondStepPrototypes[i]:
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diff changeset
259 newSimilarity[j]=similarity[i]
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diff changeset
260 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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diff changeset
261 return probabilities
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diff changeset
262
610
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263 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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diff changeset
264 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
619
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diff changeset
265 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
610
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266 if useSpeedPrototype:
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diff changeset
267 prototypeTrajectories=findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
610
0dc36203973d remove dublicated code for collision/crossing computations
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parents: 607
diff changeset
268 else:
613
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diff changeset
269 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
619
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diff changeset
270 return prototypeTrajectories
610
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diff changeset
271
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
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parents: 515
diff changeset
272
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diff changeset
273 class PredictionParameters(object):
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diff changeset
274 def __init__(self, name, maxSpeed, useCurvilinear = False):
257
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parents: 256
diff changeset
275 self.name = name
266
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diff changeset
276 self.maxSpeed = maxSpeed
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diff changeset
277 self.useCurvilinear = useCurvilinear
266
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278
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diff changeset
279 def __str__(self):
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parents: 265
diff changeset
280 return '{0} {1}'.format(self.name, self.maxSpeed)
257
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parents: 256
diff changeset
281
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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diff changeset
282 def generatePredictedTrajectories(self, obj, instant):
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diff changeset
283 return None
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284
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285 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
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286 '''returns the lists of collision points and crossing zones'''
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diff changeset
287 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant)
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diff changeset
288 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant)
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diff changeset
289
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290 collisionPoints = []
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291 if computeCZ:
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292 crossingZones = []
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diff changeset
293 else:
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294 crossingZones = None
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diff changeset
295 for et1 in predictedTrajectories1:
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diff changeset
296 for et2 in predictedTrajectories2:
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diff changeset
297 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
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diff changeset
298 if collision:
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diff changeset
299 collisionPoints.append(SafetyPoint((p1+p2)*0.5, et1.probability*et2.probability, t))
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parents: 985
diff changeset
300 elif computeCZ: # check if there is a crossing zone
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diff changeset
301 # TODO same computation as PET with metric + concatenate past trajectory with future trajectory
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diff changeset
302 cz = None
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diff changeset
303 t1 = 0
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parents: 985
diff changeset
304 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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parents: 985
diff changeset
305 t2 = 0
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parents: 985
diff changeset
306 while not cz and t2 < timeHorizon:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
307 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
308 if cz is not None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
309 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
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parents: 985
diff changeset
310 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
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parents: 985
diff changeset
311 t2 += 1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
312 t1 += 1
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diff changeset
313
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parents: 985
diff changeset
314 if debug:
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parents: 985
diff changeset
315 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
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parents: 985
diff changeset
316
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parents: 985
diff changeset
317 return collisionPoints, crossingZones
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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parents: 357
diff changeset
318
949
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parents: 948
diff changeset
319 def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):#, nProcesses = 1):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
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parents: 629
diff changeset
320 '''Computes all crossing and collision points at each common instant for two road users. '''
987
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
321 collisionPoints = {}
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
322 if computeCZ:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
323 crossingZones = {}
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
324 else:
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parents: 985
diff changeset
325 crossingZones = None
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
326 if timeInterval is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
327 commonTimeInterval = timeInterval
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
328 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
329 commonTimeInterval = obj1.commonTimeInterval(obj2)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
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parents: 948
diff changeset
330 #if nProcesses == 1:
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parents: 948
diff changeset
331 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
987
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
332 cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
333 if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
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parents: 948
diff changeset
334 collisionPoints[i] = cp
987
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
335 if computeCZ and len(cz) != 0:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
336 crossingZones[i] = cz
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
337 return collisionPoints, crossingZones
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
338
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
339 def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
340 '''Computes only collision probabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
341 Returns for each instant the collision probability and number of samples drawn'''
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
342 collisionProbabilities = {}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
343 if timeInterval is not None:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
344 commonTimeInterval = timeInterval
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
345 else:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
346 commonTimeInterval = obj1.commonTimeInterval(obj2)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
347 for i in list(commonTimeInterval)[:-1]:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
348 nCollisions = 0
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
349 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
350 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
351 for et1 in predictedTrajectories1:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
352 for et2 in predictedTrajectories2:
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
353 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
354 if collision:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
355 nCollisions += 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
356 # take into account probabilities ??
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
357 nSamples = float(len(predictedTrajectories1)*len(predictedTrajectories2))
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
358 collisionProbabilities[i] = [nSamples, float(nCollisions)/nSamples]
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
359
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
360 if debug:
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
361 savePredictedTrajectoriesFigure(i, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
362
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
363 return collisionProbabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
364
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
365 class ConstantPredictionParameters(PredictionParameters):
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
366 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
367 PredictionParameters.__init__(self, 'constant velocity', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
368
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
369 def generatePredictedTrajectories(self, obj, instant):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
370 return [PredictedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant), maxSpeed = self.maxSpeed)]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
371
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
372 class NormalAdaptationPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
373 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
374 '''An example of acceleration and steering distributions is
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
375 lambda: random.triangular(-self.maxAcceleration, self.maxAcceleration, 0.)
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
376 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
377 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
378 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
379 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
380 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
381 PredictionParameters.__init__(self, name, maxSpeed)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
382 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
383 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
384 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
385 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
386
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
387 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
388 return PredictionParameters.__str__(self)+' {0} {1} {2}'.format(self.nPredictedTrajectories,
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
389 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
390 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
391
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
392 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
393 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
394 if self.useFeatures and obj.hasFeatures():
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
395 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
396 positions = [f.getPositionAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
397 velocities = [f.getVelocityAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
398 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
399 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
400 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
401 probability = 1./float(len(positions)*self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
402 for i in range(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
403 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
404 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
405 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
406 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
407 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
408 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
409 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
410 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
411
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
412 class PointSetPredictionParameters(PredictionParameters):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
413 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
414 PredictionParameters.__init__(self, 'point set', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
415
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
416 def generatePredictedTrajectories(self, obj, instant):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
417 predictedTrajectories = []
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
418 if obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
419 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
420 positions = [f.getPositionAtInstant(instant) for f in features]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
421 velocities = [f.getVelocityAtInstant(instant) for f in features]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
422 probability = 1./float(len(positions))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
423 for initialPosition,initialVelocity in zip(positions, velocities):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
424 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, probability = probability, maxSpeed = self.maxSpeed))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
425 return predictedTrajectories
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
426 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
427 print('Object {} has no features'.format(obj.getNum()))
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
428 return None
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
429
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
430
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
431 class EvasiveActionPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
432 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
433 '''Suggested acceleration distribution may not be symmetric, eg
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
434 lambda: random.triangular(self.minAcceleration, self.maxAcceleration, 0.)'''
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
435
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
436 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
437 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
438 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
439 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
440 PredictionParameters.__init__(self, name, maxSpeed)
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
441 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
442 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
443 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
444 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
445
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
446 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
447 return PredictionParameters.__str__(self)+' {0} {1} {2} {3}'.format(self.nPredictedTrajectories, self.minAcceleration, self.maxAcceleration, self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
448
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
449 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
450 predictedTrajectories = []
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
451 if self.useFeatures and obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
452 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
453 positions = [f.getPositionAtInstant(instant) for f in features]
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
454 velocities = [f.getVelocityAtInstant(instant) for f in features]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
455 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
456 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
457 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
458 probability = 1./float(self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
459 for i in range(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
460 for initialPosition,initialVelocity in zip(positions, velocities):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
461 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
462 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
463 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
464 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
465 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
466 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
467 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
468
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
469
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
470 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
471 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
472 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
473 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
474
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
475 def __init__(self):
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
476 PredictionParameters.__init__(self, 'constant velocity (direct computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
477
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
478 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
479 collisionPoints = []
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
480 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
481 crossingZones = []
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
482 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
483 crossingZones = None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
484
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
485 p1 = obj1.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
486 p2 = obj2.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
487 if (p1-p2).norm2() <= collisionDistanceThreshold:
985
668a85c963c3 work on processing and managing large video datasets
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
488 collisionPoints = [SafetyPoint((p1+p2)*0.5, 1., 0.)]
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
489 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
490 v1 = obj1.getVelocityAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
491 v2 = obj2.getVelocityAtInstant(currentInstant)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
492 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
493
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
494 if intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
495 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
496 dp2 = intersection-p2
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
497 dot1 = moving.Point.dot(dp1, v1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
498 dot2 = moving.Point.dot(dp2, v2)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
499 if (computeCZ and (dot1 > 0 or dot2 > 0)) or (dot1 > 0 and dot2 > 0): # if the road users are moving towards the intersection or if computing pPET
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
500 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
501 dist2 = dp2.norm2()
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
502 s1 = math.copysign(v1.norm2(), dot1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
503 s2 = math.copysign(v2.norm2(), dot2)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
504 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
505 timeInterval1 = moving.TimeInterval(max(0,dist1-halfCollisionDistanceThreshold)/s1, (dist1+halfCollisionDistanceThreshold)/s1)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
506 timeInterval2 = moving.TimeInterval(max(0,dist2-halfCollisionDistanceThreshold)/s2, (dist2+halfCollisionDistanceThreshold)/s2)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
507 collisionTimeInterval = moving.TimeInterval.intersection(timeInterval1, timeInterval2)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
508
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
509 if collisionTimeInterval.empty():
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
510 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
511 crossingZones = [SafetyPoint(intersection, 1., timeInterval1.distance(timeInterval2))]
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
512 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
513 collisionPoints = [SafetyPoint(intersection, 1., collisionTimeInterval.center())]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
514
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
515 if debug and intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
516 from matplotlib.pyplot import plot, figure, axis, title
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
517 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
518 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
519 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
520 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
521 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
522 obj2.plot('b')
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
523 title('instant {0}'.format(currentInstant))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
524 axis('equal')
289
e56c34c1ebac refactored and commented functions (saving data is now outside of the computation functions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 271
diff changeset
525
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
526 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
527
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
528 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
529 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
530 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
531 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
532
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
533 def __init__(self, useCurvilinear = False):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
534 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None, useCurvilinear)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
535
701
4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 698
diff changeset
536 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
537 'TODO compute pPET'
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
538 collisionPoints = []
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
539 crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
540
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
541 if self.useCurvilinear:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
542 pass # Lionel
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
543 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
544 p1 = obj1.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
545 p2 = obj2.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
546 v1 = obj1.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
547 v2 = obj2.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
548 #intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
549
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
550 if not moving.Point.parallel(v1, v2):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
551 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
552 if ttc is not None:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
553 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)]
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
554 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
555 pass # compute pPET
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
556
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
557 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
558
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
559 class PrototypePredictionParameters(PredictionParameters):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
560 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True):
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
561 PredictionParameters.__init__(self, 'prototypes', None)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
562 self.prototypes = prototypes
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
563 self.nPredictedTrajectories = nPredictedTrajectories
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
564 self.lcss = LCSS(metric = lcssMetric, epsilon = pointSimilarityDistance)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
565 self.minSimilarity = minSimilarity
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
566 self.minFeatureTime = minFeatureTime
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
567 self.constantSpeed = constantSpeed
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
568 self.useFeatures = useFeatures
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
569
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
570 def getLcss(self):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
571 return self.lcss
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
572
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
573 def addPredictedTrajectories(self, predictedTrajectories, obj, instant):
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
574 obj.computeTrajectorySimilarities(self.prototypes, self.lcss)
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
575 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
576 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity:
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
577 initialPosition = obj.getPositionAtInstant(instant)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
578 initialVelocity = obj.getVelocityAtInstant(instant)
1154
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
579 predictedTrajectory = PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())
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parents: 1104
diff changeset
580 if predictedTrajectory.valid:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
581 predictedTrajectories.append(predictedTrajectory)
607
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MohamedGomaa
parents: 571
diff changeset
582
943
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
583 def generatePredictedTrajectories(self, obj, instant):
607
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MohamedGomaa
parents: 571
diff changeset
584 predictedTrajectories = []
943
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parents: 942
diff changeset
585 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
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parents: 942
diff changeset
586 if self.useFeatures and obj.hasFeatures():
946
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parents: 945
diff changeset
587 if not hasattr(obj, 'currentPredictionFeatures'):
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parents: 945
diff changeset
588 obj.currentPredictionFeatures = []
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parents: 945
diff changeset
589 else:
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parents: 945
diff changeset
590 obj.currentPredictionFeatures[:] = [f for f in obj.currentPredictionFeatures if f.existsAtInstant(instant)]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
591 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant) and f not in obj.currentPredictionFeatures]
945
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
592 firstInstants.sort(key = lambda t: t[1])
946
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
593 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants), self.nPredictedTrajectories-len(obj.currentPredictionFeatures))]:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
594 obj.currentPredictionFeatures.append(f)
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
595 for f in obj.currentPredictionFeatures:
945
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parents: 944
diff changeset
596 self.addPredictedTrajectories(predictedTrajectories, f, instant)
943
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
597 else:
945
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
598 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
607
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MohamedGomaa
parents: 571
diff changeset
599 return predictedTrajectories
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
600
255
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
601 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
602 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
603 import unittest
271
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
604 suite = doctest.DocFileSuite('tests/prediction.txt')
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
605 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
606 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
607 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
608 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
609