Mercurial Hosting > traffic-intelligence

annotate python/prediction.py @ 985:668a85c963c3

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
work on processing and managing large video datasets
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 06 Mar 2018 22:44:33 -0500
parents d6c1c05d11f5
children f026ce2af637
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
1 #! /usr/bin/env python
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
2 '''Library for motion prediction methods'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
3
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
4 import moving
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
5 from utils import LCSS
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
6
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
7 import math, random
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
8 from copy import copy
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
9 import numpy as np
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
10 #from multiprocessing import Pool
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
11
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
12
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
13 class PredictedTrajectory(object):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
14 '''Class for predicted trajectories with lazy evaluation
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
15 if the predicted position has not been already computed, compute it
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
16
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
17 it should also have a probability'''
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
18
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
19 def __init__(self):
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
20 self.probability = 0.
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
21 self.predictedPositions = {}
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
22 self.predictedSpeedOrientations = {}
300
f65b828e5521 working on trajectory simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 296
diff changeset
23 #self.collisionPoints = {}
f65b828e5521 working on trajectory simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 296
diff changeset
24 #self.crossingZones = {}
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
25
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
26 def predictPosition(self, nTimeSteps):
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
27 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
28 self.predictPosition(nTimeSteps-1)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
29 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
30 return self.predictedPositions[nTimeSteps]
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
31
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
32 def getPredictedTrajectory(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
33 return moving.Trajectory.fromPointList(self.predictedPositions.values())
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
34
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
35 def getPredictedSpeeds(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
36 return [so.norm for so in self.predictedSpeedOrientations.values()]
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
37
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
38 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
39 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
40
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
41 class PredictedTrajectoryConstant(PredictedTrajectory):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
42 '''Predicted trajectory at constant speed or acceleration
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
43 TODO generalize by passing a series of velocities/accelerations'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
44
336
124f85c6cfae modifed default probability to float
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 300
diff changeset
45 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
46 self.control = control
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
47 self.maxSpeed = maxSpeed
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
48 self.probability = probability
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
49 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
50 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
51
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
52 def getControl(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
53 return self.control
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
54
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
55 class PredictedTrajectoryPrototype(PredictedTrajectory):
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
56 '''Predicted trajectory that follows a prototype trajectory
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
57 The prototype is in the format of a moving.Trajectory: it could be
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
58 1. an observed trajectory (extracted from video)
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
59 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
60
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
61 Prediction can be done
467
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
62 1. at constant speed (the instantaneous user speed)
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
63 2. following the trajectory path, at the speed of the user
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
64 (applying a constant ratio equal
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
65 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
66
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
67 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, nFramesIgnore = 3, probability = 1.):
940
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
68 ''' prototype is a MovingObject
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
69
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
70 Prediction at constant speed will not work for unrealistic trajectories
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
71 that do not follow a slowly changing velocity (eg moving object trajectories,
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
72 but is good for realistic motion (eg features)'''
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
73 self.prototype = prototype
467
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
74 self.constantSpeed = constantSpeed
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
75 self.nFramesIgnore = nFramesIgnore
467
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
76 self.probability = probability
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
77 self.predictedPositions = {0: initialPosition}
940
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
78 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
79 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
80 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
81 self.initialSpeed = initialVelocity.norm2()
942
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
82 if not constantSpeed:
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
83 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
84
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
85 def predictPosition(self, nTimeSteps):
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
86 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
87 deltaPosition = copy(self.deltaPosition)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
88 if self.constantSpeed:
940
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
89 traj = self.prototype.getPositions()
942
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
90 trajLength = traj.length()
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
91 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
92 i = self.closestPointIdx
942
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
93 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
94 i += 1
942
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
95 if i == trajLength:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
96 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
97 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
939
a2f3f3ca241e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 937
diff changeset
98 else:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
99 v = self.prototype.getVelocityAt(min(i-1, int(self.prototype.length())-1-self.nFramesIgnore))
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
100 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))
942
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
101 else:
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
102 traj = self.prototype.getPositions()
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
103 trajLength = traj.length()
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
104 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
105 i = int(np.floor(nSteps))
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 940
diff changeset
106 if nSteps < trajLength-1:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
107 v = self.prototype.getVelocityAt(min(i, int(self.prototype.length())-1-self.nFramesIgnore))
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
108 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
109 else:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
110 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
111 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[-1]+v*(nSteps-trajLength+1)
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
112 return self.predictedPositions[nTimeSteps]
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
113
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
114 class PredictedTrajectoryRandomControl(PredictedTrajectory):
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
115 '''Random vehicle control: suitable for normal adaptation'''
336
124f85c6cfae modifed default probability to float
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 300
diff changeset
116 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
117 '''Constructor
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
118 accelerationDistribution and steeringDistribution are distributions
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
119 that return random numbers drawn from them'''
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
120 self.accelerationDistribution = accelerationDistribution
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
121 self.steeringDistribution = steeringDistribution
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
122 self.maxSpeed = maxSpeed
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
123 self.probability = probability
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
124 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
125 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
126
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
127 def getControl(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
128 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
129
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
130 class SafetyPoint(moving.Point):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
131 '''Can represent a collision point or crossing zone
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
132 with respective safety indicator, TTC or pPET'''
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
133 def __init__(self, p, probability = 1., indicator = -1):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
134 self.x = p.x
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
135 self.y = p.y
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
136 self.probability = probability
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
137 self.indicator = indicator
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
138
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
139 def __str__(self):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
140 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
141
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
142 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
143 def save(out, points, predictionInstant, objNum1, objNum2):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
144 for p in points:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
145 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
146
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
147 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
148 def computeExpectedIndicator(points):
696
ae137e3b1990 minor correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
149 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
150
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
151 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
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
152 '''Computes the first instant
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
153 at which two predicted trajectories are within some distance threshold
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
154 Computes all the times including 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
155
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
156 User has to check the first variable collision to know about a 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
157 t = 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
158 p1 = predictedTrajectory1.predictPosition(t)
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
159 p2 = predictedTrajectory2.predictPosition(t)
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
160 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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
161 while t < timeHorizon and not collision:
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
162 t += 1
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
163 p1 = predictedTrajectory1.predictPosition(t)
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
164 p2 = predictedTrajectory2.predictPosition(t)
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
165 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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
166 return collision, t, p1, p2
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
167
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
168 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon, printFigure = True):
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
169 from matplotlib.pyplot import figure, axis, title, clf, savefig
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
170 if printFigure:
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
171 clf()
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
172 else:
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
173 figure()
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
174 for et in predictedTrajectories1:
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
175 for t in xrange(int(np.round(timeHorizon))):
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
176 et.predictPosition(t)
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
177 et.plot('rx')
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
178 for et in predictedTrajectories2:
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
179 for t in xrange(int(np.round(timeHorizon))):
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
180 et.predictPosition(t)
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
181 et.plot('bx')
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
182 obj1.plot('r', withOrigin = True)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
183 obj2.plot('b', withOrigin = True)
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
184 title('instant {0}'.format(currentInstant))
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
185 axis('equal')
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
186 if printFigure:
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
187 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
188
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
189 def calculateProbability(nMatching,similarity,objects):
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
190 sumFrequencies=sum([nMatching[p] for p in similarity.keys()])
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
191 prototypeProbability={}
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
192 for i in similarity.keys():
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
193 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
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
194 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability.keys()])
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
195 probabilities={}
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
196 for i in prototypeProbability.keys():
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
197 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
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
198 return probabilities
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
199
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
200 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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
201 ''' behaviour prediction first step'''
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
202 if route[0] not in noiseEntryNums:
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
203 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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
204 elif route[1] not in noiseExitNums:
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
205 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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
206 else:
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
207 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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
208 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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
209 similarity={}
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
210 for y in prototypesRoutes:
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
211 if y in prototypes.keys():
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
212 prototypesIDs=prototypes[y]
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
213 for x in prototypesIDs:
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
214 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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
215 if s >= minSimilarity:
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
216 similarity[x]=s
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
217
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
218 if mostMatched==None:
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
219 probabilities= calculateProbability(nMatching,similarity,objects)
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
220 return probabilities
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
221 else:
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
222 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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
223 keys=[k for k in similarity.keys() if similarity[k] in mostMatchedValues]
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
224 newSimilarity={}
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
225 for i in keys:
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
226 newSimilarity[i]=similarity[i]
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
227 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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
228 return probabilities
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
229
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
230 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
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
231 if useDestination:
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
232 prototypesRoutes=[route]
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
233 else:
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
234 if route[0] not in noiseEntryNums:
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
235 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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
236 elif route[1] not in noiseExitNums:
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
237 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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
238 else:
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
239 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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
240 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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
241 similarity={}
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
242 for y in prototypesRoutes:
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
243 if y in prototypes.keys():
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
244 prototypesIDs=prototypes[y]
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
245 for x in prototypesIDs:
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
246 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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
247 if s >= minSimilarity:
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
248 similarity[x]=s
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
249
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
250 newSimilarity={}
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
251 for i in similarity.keys():
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
252 if i in secondStepPrototypes.keys():
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
253 for j in secondStepPrototypes[i]:
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
254 newSimilarity[j]=similarity[i]
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
255 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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
256 return probabilities
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
257
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
258 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
259 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
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
260 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
261 if useSpeedPrototype:
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
262 prototypeTrajectories=findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
263 else:
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
264 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
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
265 return prototypeTrajectories
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
266
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
267 def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
268 '''returns the lists of collision points and crossing zones'''
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
269 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
270 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
271
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
272 collisionPoints = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
273 crossingZones = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
274 for et1 in predictedTrajectories1:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
275 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
276 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
277 if collision:
940
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 939
diff changeset
278 collisionPoints.append(SafetyPoint((p1+p2)*0.5, et1.probability*et2.probability, t))
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
279 elif computeCZ: # check if there is a crossing zone
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
280 # TODO same computation as PET with metric + concatenate past trajectory with future trajectory
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
281 cz = None
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
282 t1 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
283 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
284 t2 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
285 while not cz and t2 < timeHorizon:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
286 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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
287 if cz is not None:
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
288 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
289 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
290 t2 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
291 t1 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
292
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
293 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
294 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
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
295
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
296 return currentInstant, collisionPoints, crossingZones
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
297
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
298
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
299 class PredictionParameters(object):
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
300 def __init__(self, name, maxSpeed):
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
301 self.name = name
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
302 self.maxSpeed = maxSpeed
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
303
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
304 def __str__(self):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
305 return '{0} {1}'.format(self.name, self.maxSpeed)
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
306
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
307 def generatePredictedTrajectories(self, obj, instant):
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
308 return []
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
309
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
310 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
311 '''Computes all crossing and collision points at each common instant for two road users. '''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
312 collisionPoints={}
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
313 crossingZones={}
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
314 if timeInterval:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
315 commonTimeInterval = timeInterval
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
316 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
317 commonTimeInterval = obj1.commonTimeInterval(obj2)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
318 #if nProcesses == 1:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
319 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
320 i, cp, cz = computeCrossingsCollisionsAtInstant(self, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
321 if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
322 collisionPoints[i] = cp
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
323 if len(cz) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
324 crossingZones[i] = cz
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
325 # else:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
326 # pool = Pool(processes = nProcesses)
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
327 # jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (self, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)) for i in list(commonTimeInterval)[:-1]]
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
328 # for j in jobs:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
329 # i, cp, cz = j.get()
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
330 # if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
331 # collisionPoints[i] = cp
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
332 # if len(cz) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
333 # crossingZones[i] = cz
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
334 # pool.close()
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
335 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
336
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
337 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
338 '''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
339 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
340 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
341 if 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
342 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
343 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
344 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
345 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
346 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
347 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
348 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
349 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
350 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
351 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
352 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
353 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
354 # 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
355 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
356 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
357
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 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
359 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
360
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
361 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
362
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
363 class ConstantPredictionParameters(PredictionParameters):
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
364 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
365 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
366
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
367 def generatePredictedTrajectories(self, obj, instant):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
368 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
369
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
370 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
371 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
372 '''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
373 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
374 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
375 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
376 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
377 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
378 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
379 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
380 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
381 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
382 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
383 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
384
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
385 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
386 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
387 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
388 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
389
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
390 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
391 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
392 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
393 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
394 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
395 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
396 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
397 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
398 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
399 probability = 1./float(len(positions)*self.nPredictedTrajectories)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
400 for i in xrange(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
401 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
402 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
403 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
404 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
405 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
406 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
407 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
408 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
409
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
410 class PointSetPredictionParameters(PredictionParameters):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
411 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
412 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
413
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
414 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
415 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
416 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
417 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
418 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
419 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
420 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
421 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
422 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
423 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
424 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
425 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
426 return None
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
427
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
428
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
429 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
430 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
431 '''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
432 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
433
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
434 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
435 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
436 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
437 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
438 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
439 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
440 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
441 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
442 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
443
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
444 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
445 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
446
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
447 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
448 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
449 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
450 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
451 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
452 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
453 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
454 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
455 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
456 probability = 1./float(self.nPredictedTrajectories)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
457 for i in xrange(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
458 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
459 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
460 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
461 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
462 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
463 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
464 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
465 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
466
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
467
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
468 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
469 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
470 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
471 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
472
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
473 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
474 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
475
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
476 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
477 collisionPoints = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
478 crossingZones = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
479
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
480 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
481 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
482 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
483 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
484 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
485 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
486 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
487 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
488
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
489 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
490 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
491 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
492 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
493 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
494 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
495 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
496 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
497 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
498 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
499 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
500 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
501 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
502 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
503
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
504 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
505 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
506 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
507 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
508 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
509
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
510 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
511 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
512 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
513 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
514 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
515 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
516 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
517 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
518 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
519 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
520
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
521 return currentInstant, collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
522
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
523 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
524 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
525 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
526 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
527
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
528 def __init__(self):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
529 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
530
701
4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 698
diff changeset
531 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
532 'TODO compute pPET'
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
533 collisionPoints = []
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
534 crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
535
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
536 p1 = obj1.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
537 p2 = obj2.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
538 v1 = obj1.getVelocityAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
539 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
540 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
541
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
542 if intersection is not None:
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
543 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
544 if ttc is not None:
888
40994bb43148 corrected bug
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 881
diff changeset
545 collisionPoints = [SafetyPoint(intersection, 1., ttc)]
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
546 else:
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
547 pass # compute pPET
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
548
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
549 return currentInstant, collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
550
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
551 class PrototypePredictionParameters(PredictionParameters):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
552 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
553 PredictionParameters.__init__(self, 'prototypes', None)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
554 self.prototypes = prototypes
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
555 self.nPredictedTrajectories = nPredictedTrajectories
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
556 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
557 self.minSimilarity = minSimilarity
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
558 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
559 self.constantSpeed = constantSpeed
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
560 self.useFeatures = useFeatures
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
561
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
562 def getLcss(self):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
563 return self.lcss
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
564
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
565 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
566 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
567 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
568 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
569 initialPosition = obj.getPositionAtInstant(instant)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
570 initialVelocity = obj.getVelocityAtInstant(instant)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
571 predictedTrajectories.append(PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings()))
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
572
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
573 def generatePredictedTrajectories(self, obj, instant):
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
574 predictedTrajectories = []
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
575 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
576 if self.useFeatures and obj.hasFeatures():
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
577 if not hasattr(obj, 'currentPredictionFeatures'):
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
578 obj.currentPredictionFeatures = []
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
579 else:
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
580 obj.currentPredictionFeatures[:] = [f for f in obj.currentPredictionFeatures if f.existsAtInstant(instant)]
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
581 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant) and f not in obj.currentPredictionFeatures]
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
582 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
583 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants), self.nPredictedTrajectories-len(obj.currentPredictionFeatures))]:
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
584 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
585 for f in obj.currentPredictionFeatures:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
586 self.addPredictedTrajectories(predictedTrajectories, f, instant)
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
587 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
588 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
589 return predictedTrajectories
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
590
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
591 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
592 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
593 import unittest
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
594 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
595 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
596 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
597 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
598 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
599