Mercurial Hosting > traffic-intelligence
annotate scripts/safety-analysis.py @ 911:3dd5acfa1899
corrected potential issues with videos where one cannot reach a give frame from its number
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 28 Jun 2017 16:46:45 -0400 |
parents | 6624484c0d55 |
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script for safety analysis
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1 #! /usr/bin/env python |
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2 |
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3 import storage, prediction, events, moving |
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5 import sys, argparse, random |
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6 |
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7 import matplotlib.pyplot as plt |
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8 import numpy as np |
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9 |
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10 # todo: very slow if too many predicted trajectories |
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11 # add computation of probality of unsucessful evasive action |
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13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') |
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14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) |
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15 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to analyse', type = int) |
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16 # TODO analyze only |
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17 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (cvd: vector computation (approximate); cve: equation solving; cv: discrete time (approximate)), normal adaptation, point set prediction)', choices = ['cvd', 'cve', 'cv', 'na', 'ps']) |
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18 parser.add_argument('--pet', dest = 'computePET', help = 'computes PET', action = 'store_true') |
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19 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true') |
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20 parser.add_argument('--nthreads', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1) |
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21 args = parser.parse_args() |
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22 |
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23 params = storage.ProcessParameters(args.configFilename) |
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24 |
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25 # parameters for prediction methods |
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26 if args.predictionMethod is not None: |
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27 predictionMethod = args.predictionMethod |
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28 else: |
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29 predictionMethod = params.predictionMethod |
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31 def accelerationDistribution(): |
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32 return random.triangular(-params.maxNormalAcceleration, params.maxNormalAcceleration, 0.) |
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33 def steeringDistribution(): |
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34 return random.triangular(-params.maxNormalSteering, params.maxNormalSteering, 0.) |
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35 |
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36 if predictionMethod == 'cvd': |
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37 predictionParameters = prediction.CVDirectPredictionParameters() |
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38 if predictionMethod == 'cve': |
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39 predictionParameters = prediction.CVExactPredictionParameters() |
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40 elif predictionMethod == 'cv': |
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41 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed) |
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42 elif predictionMethod == 'na': |
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43 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, |
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44 params.nPredictedTrajectories, |
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45 accelerationDistribution, |
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46 steeringDistribution, |
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47 params.useFeaturesForPrediction) |
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48 elif predictionMethod == 'ps': |
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49 predictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed) |
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50 # no else required, since parameters is required as argument |
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51 |
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52 # evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, |
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53 # params.nPredictedTrajectories, |
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54 # params.minExtremeAcceleration, |
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55 # params.maxExtremeAcceleration, |
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56 # params.maxExtremeSteering, |
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57 # params.useFeaturesForPrediction) |
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58 |
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59 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object', args.nObjects, withFeatures = (params.useFeaturesForPrediction or (predictionMethod == 'ps'))) |
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60 # if params.useFeaturesForPrediction: |
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61 # features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation |
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62 # for obj in objects: |
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63 # obj.setFeatures(features) |
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64 |
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65 interactions = events.createInteractions(objects) |
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66 for inter in interactions: |
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67 inter.computeIndicators() |
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68 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones, nProcesses = args.nProcesses) |
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69 |
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70 if args.computePET: |
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71 for inter in interactions: |
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72 inter.computePET(params.collisionDistance) |
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73 |
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74 storage.saveIndicators(params.databaseFilename, interactions) |
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76 if args.displayCollisionPoints: |
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77 plt.figure() |
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78 allCollisionPoints = [] |
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79 for inter in interactions: |
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80 for collisionPoints in inter.collisionPoints.values(): |
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81 allCollisionPoints += collisionPoints |
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82 moving.Point.plotAll(allCollisionPoints) |
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83 plt.axis('equal') |
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