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annotate scripts/safety-analysis.py @ 350:7e9ad2d9d79c

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added new parameters in safety analysis script
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Jun 2013 00:18:39 -0400
parents c64a4f889b97
children 891858351bcb
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1 #! /usr/bin/env python
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3 import utils, storage, prediction, events
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5 import sys, argparse
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7 import matplotlib.pyplot as plt
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8 import numpy as np
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10 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
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11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
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12 #parser.add_argument('--maxspeed', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
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13 #parser.add_argument('--time-horizon', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
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14 args = parser.parse_args()
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16 # TODO work on the way to indicate an interaction definition
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18 # if False: # test if there is a configuration file?
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19 params = utils.TrackingParameters()
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20 params.loadConfigFile(args.configFilename)
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22 # parameters for prediction methods
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23 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed)
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25 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed,
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26 params.nPredictedTrajectories,
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27 params.maxAcceleration,
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28 params.maxSteering)
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30 featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories)
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32 evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
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33 params.nPredictedTrajectories,
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34 params.minAcceleration,
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35 params.maxAcceleration,
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36 params.maxSteering,
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37 False)
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39 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
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40 params.nPredictedTrajectories,
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41 params.minAcceleration,
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42 params.maxAcceleration,
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43 params.maxSteering,
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44 True)
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48 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
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49 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation
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51 interactions = events.createInteractions(objects)
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52 for inter in interactions:
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53 inter.computeIndicators()
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54 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones)
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56 storage.saveIndicators(params.databaseFilename, interactions)
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58 # if display:
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59 # plt.figure()
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60 # plt.axis('equal')
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61 # for inter in interactions[:2]:
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62 # for collisionPoints in inter.collisionPoints.values():
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63 # for cp in collisionPoints:
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64 # plot([cp.x], [cp.y], 'x')
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66 # for the demo, output automatically a map
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67 # possibility to process longitudinal coords only
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