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annotate scripts/safety-analysis.py @ 476:6551a3cf1750

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modified compute-homography to work with argparse
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 25 Mar 2014 19:43:28 -0400
parents 91679eb2ff2c
children f6415f012640
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1 #! /usr/bin/env python
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3 import utils, storage, prediction, events, moving
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5 import sys, argparse
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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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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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12
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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')
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15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps'])
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16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points')
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17 args = parser.parse_args()
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18
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19 params = utils.TrackingParameters()
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20 params.loadConfigFile(args.configFilename)
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22 # parameters for prediction methods
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23 if args.predictionMethod:
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24 predictionMethod = args.predictionMethod
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25 else:
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26 predictionMethod = params.predictionMethod
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28 if predictionMethod == 'cvd':
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29 predictionParameters = prediction.CVDirectPredictionParameters()
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30 elif predictionMethod == 'cv':
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31 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed)
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32 elif predictionMethod == 'na':
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33 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed,
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34 params.nPredictedTrajectories,
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35 params.maxAcceleration,
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36 params.maxSteering,
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37 params.useFeaturesForPrediction)
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38 elif predictionMethod == 'ps':
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39 predictionParameters = prediction.PointSetPredictionParameters(params.nPredictedTrajectories,
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40 params.maxPredictedSpeed)
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41 else:
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42 print('Prediction method {} is not valid. See help.'.format(predictionMethod))
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43 sys.exit()
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45 # evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
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46 # params.nPredictedTrajectories,
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47 # params.minAcceleration,
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48 # params.maxAcceleration,
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49 # params.maxSteering,
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50 # params.useFeaturesForPrediction)
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52 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
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53 if params.useFeaturesForPrediction:
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54 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation
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55 for obj in objects:
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56 obj.setFeatures(features)
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58 interactions = events.createInteractions(objects)
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59 for inter in interactions:
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60 inter.computeIndicators()
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61 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones)
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63 storage.saveIndicators(params.databaseFilename, interactions)
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65 if args.displayCollisionPoints:
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66 plt.figure()
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67 allCollisionPoints = []
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68 for inter in interactions:
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69 for collisionPoints in inter.collisionPoints.values():
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70 allCollisionPoints += collisionPoints
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71 moving.Point.plotAll(allCollisionPoints)
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72 plt.axis('equal')
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