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annotate trafficintelligence/prediction.py @ 1211:a095d4fbb2ea

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 02 May 2023 07:12:26 -0400
parents 1bad5f9b60de
children af329f3330ba
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1 #! /usr/bin/env python
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2 '''Library for motion prediction methods'''
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3
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4 import math, random
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5 from copy import copy
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6
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7 import numpy as np
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8
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9 from trafficintelligence import moving
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10 from trafficintelligence.utils import LCSS
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12 class PredictedTrajectory(object):
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13 '''Class for predicted trajectories with lazy evaluation
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14 if the predicted position has not been already computed, compute it
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16 it should also have a probability'''
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17
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18 def __init__(self):
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19 self.probability = 0.
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20 self.predictedPositions = {}
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21 self.predictedSpeedOrientations = {}
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22 #self.collisionPoints = {}
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23 #self.crossingZones = {}
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24
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25 def predictPosition(self, nTimeSteps):
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26 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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27 self.predictPosition(nTimeSteps-1)
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28 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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29 return self.predictedPositions[nTimeSteps]
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30
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31 def getPredictedTrajectory(self):
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32 return moving.Trajectory.fromPointList(list(self.predictedPositions.values()))
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33
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34 def getPredictedSpeeds(self):
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35 return [so.norm for so in self.predictedSpeedOrientations.values()]
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36
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37 def hasCollisionWith(self, other, t, collisionDistanceThreshold):
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38 p1 = self.predictPosition(t)
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39 p2 = other.predictPosition(t)
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40 return (p1-p2).norm2() <= collisionDistanceThreshold, p1, p2
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41
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42 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
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43 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
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44
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45 class PredictedTrajectoryConstant(PredictedTrajectory):
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46 '''Predicted trajectory at constant speed or acceleration
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47 TODO generalize by passing a series of velocities/accelerations'''
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48
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49 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
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50 self.control = control
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51 self.maxSpeed = maxSpeed
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52 self.probability = probability
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53 self.predictedPositions = {0: initialPosition}
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54 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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55
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56 def getControl(self):
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57 return self.control
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58
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59 class PredictedTrajectoryConstantVelocity(PredictedTrajectory):
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60 '''Predicted trajectory at constant speed or acceleration
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61 TODO generalize by passing a series of velocities/accelerations'''
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62
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63 def __init__(self, initialPosition, initialVelocity, probability = 1.):
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64 self.probability = probability
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65 self.predictedPositions = {0: initialPosition}
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66 self.initialVelocity = initialVelocity
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67 #self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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68
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69 def predictPosition(self, nTimeSteps):
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70 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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71 self.predictPosition(nTimeSteps-1)
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72 self.predictedPositions[nTimeSteps] = self.predictedPositions[nTimeSteps-1]+self.initialVelocity
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73 return self.predictedPositions[nTimeSteps]
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74
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75 class PredictedPolyTrajectoryConstant(PredictedTrajectory):
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76 '''Predicted trajectory of an object with an outline represented by a polygon
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77 Simple method that just translates the polygon corners'''
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78 def __init__(self, polyCorners, initialVelocity, probability = 1.):
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79 self.probability = probability
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80 self.predictedPositions = {0: polyCorners}
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81 self.initialVelocity = initialVelocity
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82 self.predictedTrajectories = [PredictedTrajectoryConstant(p, initialVelocity) for p in polyCorners]
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83
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84 class PredictedTrajectoryPrototype(PredictedTrajectory):
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85 '''Predicted trajectory that follows a prototype trajectory
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86 The prototype is in the format of a moving.Trajectory: it could be
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87 1. an observed trajectory (extracted from video)
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88 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
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89
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90 Prediction can be done
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91 1. at constant speed (the instantaneous user speed)
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92 2. following the trajectory path, at the speed of the user
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93 (applying a constant ratio equal
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94 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
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95
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96 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, nFramesIgnore = 3, probability = 1.):
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97 ''' prototype is a MovingObject
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98
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99 Prediction at constant speed will not work for unrealistic trajectories
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100 that do not follow a slowly changing velocity (eg moving object trajectories,
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101 but is good for realistic motion (eg features)'''
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102 self.valid = True
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103 self.prototype = prototype
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104 self.constantSpeed = constantSpeed
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105 self.nFramesIgnore = nFramesIgnore
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106 self.probability = probability
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107 self.predictedPositions = {0: initialPosition}
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108 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
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109 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
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110 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
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111 self.initialSpeed = initialVelocity.norm2()
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112 if not constantSpeed:
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113 while prototype.getVelocityAt(self.closestPointIdx).norm2() == 0. and self.closestPointIdx < prototype.length():
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114 self.closestPointIdx += 1
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115 if self.closestPointIdx < prototype.length():
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116 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
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117 else:
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118 self.valid = False
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119
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120 def predictPosition(self, nTimeSteps):
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121 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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122 deltaPosition = copy(self.deltaPosition)
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123 if self.constantSpeed:
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124 traj = self.prototype.getPositions()
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125 trajLength = traj.length()
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diff changeset
126 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
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diff changeset
127 i = self.closestPointIdx
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diff changeset
128 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
939
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diff changeset
129 i += 1
942
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diff changeset
130 if i == trajLength:
949
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diff changeset
131 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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diff changeset
132 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
939
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diff changeset
133 else:
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diff changeset
134 v = self.prototype.getVelocityAt(min(i-1, int(self.prototype.length())-1-self.nFramesIgnore))
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diff changeset
135 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
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diff changeset
136 else:
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diff changeset
137 traj = self.prototype.getPositions()
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diff changeset
138 trajLength = traj.length()
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parents: 940
diff changeset
139 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
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parents: 940
diff changeset
140 i = int(np.floor(nSteps))
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diff changeset
141 if nSteps < trajLength-1:
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diff changeset
142 v = self.prototype.getVelocityAt(min(i, int(self.prototype.length())-1-self.nFramesIgnore))
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diff changeset
143 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
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diff changeset
144 else:
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diff changeset
145 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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diff changeset
146 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[-1]+v*(nSteps-trajLength+1)
470
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diff changeset
147 return self.predictedPositions[nTimeSteps]
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diff changeset
148
466
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diff changeset
149 class PredictedTrajectoryRandomControl(PredictedTrajectory):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
150 '''Random vehicle control: suitable for normal adaptation'''
336
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diff changeset
151 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256
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diff changeset
152 '''Constructor
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153 accelerationDistribution and steeringDistribution are distributions
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parents: 255
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154 that return random numbers drawn from them'''
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diff changeset
155 self.accelerationDistribution = accelerationDistribution
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
156 self.steeringDistribution = steeringDistribution
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
157 self.maxSpeed = maxSpeed
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
158 self.probability = probability
59f547aebaac modified prediction functions, added norm/angle representation of Points
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parents: 245
diff changeset
159 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points
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parents: 245
diff changeset
160 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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parents: 245
diff changeset
161
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
162 def getControl(self):
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parents: 255
diff changeset
163 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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parents: 255
diff changeset
164
359
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diff changeset
165 class SafetyPoint(moving.Point):
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parents: 358
diff changeset
166 '''Can represent a collision point or crossing zone
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parents: 358
diff changeset
167 with respective safety indicator, TTC or pPET'''
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parents: 358
diff changeset
168 def __init__(self, p, probability = 1., indicator = -1):
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parents: 358
diff changeset
169 self.x = p.x
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
170 self.y = p.y
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parents: 358
diff changeset
171 self.probability = probability
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
172 self.indicator = indicator
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parents: 358
diff changeset
173
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parents: 358
diff changeset
174 def __str__(self):
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parents: 358
diff changeset
175 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
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parents: 358
diff changeset
176
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diff changeset
177 @staticmethod
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parents: 358
diff changeset
178 def save(out, points, predictionInstant, objNum1, objNum2):
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parents: 358
diff changeset
179 for p in points:
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parents: 358
diff changeset
180 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
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diff changeset
181
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parents: 358
diff changeset
182 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
183 def computeExpectedIndicator(points):
696
ae137e3b1990 minor correction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 692
diff changeset
184 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
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parents: 358
diff changeset
185
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
186 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
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parents: 661
diff changeset
187 '''Computes the first instant
1211
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parents: 1210
diff changeset
188 at which two predicted trajectories are colliding (depending on the trajectory format)
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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parents: 661
diff changeset
189 Computes all the times including timeHorizon
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
190
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
191 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
192 t = 1
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
193 collision, p1, p2 = predictedTrajectory1.hasCollisionWith(predictedTrajectory2, t, collisionDistanceThreshold)
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
194 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
195 t += 1
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
196 collision, p1, p2 = predictedTrajectory1.hasCollisionWith(predictedTrajectory2, t, collisionDistanceThreshold)
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
197 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
198
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
199 def computeCollisionTimePolygon(predictedTrajectories1, predictedTrajectories2, timeHorizon):
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
200 '''Computes the first instant
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
201 at which two objects represented by a series of points (eg box)
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
202 Computes all the times including timeHorizon
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
203
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
204 User has to check the first variable collision to know about a collision'''
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
205 t = 1
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
206 poly1 = moving.pointsToShapely([t1.predictPosition(t) for t1 in predictedTrajectories1])
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
207 poly2 = moving.pointsToShapely([t2.predictPosition(t) for t2 in predictedTrajectories2])
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
208 collision = poly1.overlaps(poly2)
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
209 while t < timeHorizon and not collision:
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
210 t += 1
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
211 poly1 = moving.pointsToShapely([t1.predictPosition(t) for t1 in predictedTrajectories1])
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
212 poly2 = moving.pointsToShapely([t2.predictPosition(t) for t2 in predictedTrajectories2])
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
213 collision = poly1.overlaps(poly2)
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
214 return collision, t
1210
1bad5f9b60de work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1209
diff changeset
215
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
216 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
217 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
218 if printFigure:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
219 clf()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
220 else:
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
221 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
222 for et in predictedTrajectories1:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
223 for t in range(int(np.round(timeHorizon))):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
224 et.predictPosition(t)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
225 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
226 for et in predictedTrajectories2:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
227 for t in range(int(np.round(timeHorizon))):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
228 et.predictPosition(t)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
229 et.plot('bx')
943
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
230 obj1.plot('r', withOrigin = True)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
231 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
232 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
233 axis('equal')
944
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
234 if printFigure:
84ebe1b031f1 works with object trajectory, features todo
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parents: 943
diff changeset
235 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
236
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
237 def calculateProbability(nMatching,similarity,objects):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
238 sumFrequencies=sum([nMatching[p] for p in similarity])
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
239 prototypeProbability={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
240 for i in similarity:
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
241 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
242 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability])
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
243 probabilities={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
244 for i in prototypeProbability:
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245 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
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diff changeset
246 return probabilities
613
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247
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248 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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249 ''' behaviour prediction first step'''
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diff changeset
250 if route[0] not in noiseEntryNums:
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diff changeset
251 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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parents: 613
diff changeset
252 elif route[1] not in noiseExitNums:
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parents: 613
diff changeset
253 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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parents: 613
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254 else:
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diff changeset
255 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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diff changeset
256 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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diff changeset
257 similarity={}
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diff changeset
258 for y in prototypesRoutes:
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259 if y in prototypes:
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260 prototypesIDs=prototypes[y]
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261 for x in prototypesIDs:
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diff changeset
262 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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diff changeset
263 if s >= minSimilarity:
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diff changeset
264 similarity[x]=s
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diff changeset
265
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diff changeset
266 if mostMatched==None:
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267 probabilities= calculateProbability(nMatching,similarity,objects)
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diff changeset
268 return probabilities
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269 else:
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diff changeset
270 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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271 keys=[k for k in similarity if similarity[k] in mostMatchedValues]
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272 newSimilarity={}
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273 for i in keys:
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274 newSimilarity[i]=similarity[i]
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275 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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276 return probabilities
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277
613
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278 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
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diff changeset
279 if useDestination:
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diff changeset
280 prototypesRoutes=[route]
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281 else:
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diff changeset
282 if route[0] not in noiseEntryNums:
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diff changeset
283 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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parents: 613
diff changeset
284 elif route[1] not in noiseExitNums:
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parents: 613
diff changeset
285 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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parents: 613
diff changeset
286 else:
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diff changeset
287 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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diff changeset
288 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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diff changeset
289 similarity={}
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290 for y in prototypesRoutes:
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291 if y in prototypes:
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292 prototypesIDs=prototypes[y]
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293 for x in prototypesIDs:
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294 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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295 if s >= minSimilarity:
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diff changeset
296 similarity[x]=s
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297
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diff changeset
298 newSimilarity={}
998
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parents: 987
diff changeset
299 for i in similarity:
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diff changeset
300 if i in secondStepPrototypes:
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diff changeset
301 for j in secondStepPrototypes[i]:
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diff changeset
302 newSimilarity[j]=similarity[i]
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diff changeset
303 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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diff changeset
304 return probabilities
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diff changeset
305
610
0dc36203973d remove dublicated code for collision/crossing computations
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diff changeset
306 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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diff changeset
307 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
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diff changeset
308 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
309 if useSpeedPrototype:
613
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parents: 611
diff changeset
310 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
311 else:
613
306db0f3c7a2 move 4 functions from trajLearning file
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parents: 611
diff changeset
312 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
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parents: 613
diff changeset
313 return prototypeTrajectories
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
314
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
315
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
316 class PredictionParameters(object):
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
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parents: 1029
diff changeset
317 def __init__(self, name, maxSpeed, useCurvilinear = False):
257
9281878ff19e untested collision/crossing computation
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parents: 256
diff changeset
318 self.name = name
266
aba9711b3149 small modificatons and reorganization
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diff changeset
319 self.maxSpeed = maxSpeed
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1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
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diff changeset
320 self.useCurvilinear = useCurvilinear
266
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parents: 265
diff changeset
321
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parents: 265
diff changeset
322 def __str__(self):
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parents: 265
diff changeset
323 return '{0} {1}'.format(self.name, self.maxSpeed)
257
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
324
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
325 def generatePredictedTrajectories(self, obj, instant):
987
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parents: 985
diff changeset
326 return None
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parents: 985
diff changeset
327
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parents: 985
diff changeset
328 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
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parents: 985
diff changeset
329 '''returns the lists of collision points and crossing zones'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
330 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant)
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parents: 985
diff changeset
331 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
332
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parents: 985
diff changeset
333 collisionPoints = []
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parents: 985
diff changeset
334 if computeCZ:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
335 crossingZones = []
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parents: 985
diff changeset
336 else:
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parents: 985
diff changeset
337 crossingZones = None
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parents: 985
diff changeset
338 for et1 in predictedTrajectories1:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
339 for et2 in predictedTrajectories2:
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parents: 985
diff changeset
340 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
341 if collision:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
342 collisionPoints.append(SafetyPoint((p1+p2)*0.5, et1.probability*et2.probability, t))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
343 elif computeCZ: # check if there is a crossing zone
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
344 # TODO same computation as PET with metric + concatenate past trajectory with future trajectory
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
345 cz = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
346 t1 = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
347 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
348 t2 = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
349 while not cz and t2 < timeHorizon:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
350 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
351 if cz is not None:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
352 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
353 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
354 t2 += 1
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
355 t1 += 1
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
356
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
357 if debug:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
358 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
359
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
360 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
361
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
362 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
363 '''Computes all crossing and collision points at each common instant for two road users. '''
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
364 collisionPoints = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
365 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
366 crossingZones = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
367 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
368 crossingZones = None
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
369 if timeInterval is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
370 commonTimeInterval = timeInterval
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
371 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
372 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
373 #if nProcesses == 1:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
374 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
375 cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
376 if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
377 collisionPoints[i] = cp
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
378 if computeCZ and len(cz) != 0:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
379 crossingZones[i] = cz
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
380 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
381
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
382 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
383 '''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
384 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
385 collisionProbabilities = {}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
386 if timeInterval is not None:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
387 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
388 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
389 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
390 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
391 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
392 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
393 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
394 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
395 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
396 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
397 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
398 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
399 # 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
400 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
401 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
402
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
403 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
404 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
405
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
406 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
407
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
408 class ConstantPredictionParameters(PredictionParameters):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
409 def __init__(self):
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
410 PredictionParameters.__init__(self, 'constant velocity')
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
411
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
412 def generatePredictedTrajectories(self, obj, instant):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
413 return [PredictedTrajectoryConstantVelocity(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant))]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
414
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
415 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
416 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
417 '''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
418 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
419 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
420 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
421 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
422 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
423 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
424 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
425 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
426 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
427 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
428 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
429
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
430 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
431 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
432 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
433 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
434
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
435 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
436 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
437 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
438 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
439 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
440 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
441 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
442 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
443 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
444 probability = 1./float(len(positions)*self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
445 for i in range(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
446 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
447 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
448 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
449 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
450 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
451 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
452 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
453 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
454
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
455 class PointSetPredictionParameters(PredictionParameters):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
456 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
457 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
458
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
459 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
460 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
461 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
462 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
463 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
464 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
465 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
466 for initialPosition,initialVelocity in zip(positions, velocities):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
467 predictedTrajectories.append(PredictedTrajectoryConstantVelocity(initialPosition, initialVelocity, probability = probability))
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
468 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
469 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
470 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
471 return None
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
472
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
473
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
474 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
475 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
476 '''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
477 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
478
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
479 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
480 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
481 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
482 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
483 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
484 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
485 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
486 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
487 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
488
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
489 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
490 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
491
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
492 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
493 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
494 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
495 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
496 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
497 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
498 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
499 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
500 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
501 probability = 1./float(self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
502 for i in range(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
503 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
504 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
505 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
506 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
507 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
508 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
509 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
510 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
511
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
512
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
513 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
514 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
515 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
516 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
517
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
518 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
519 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
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 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
522 collisionPoints = []
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
523 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
524 crossingZones = []
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
525 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
526 crossingZones = None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
527
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
528 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
529 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
530 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
531 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
532 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
533 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
534 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
535 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
536
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
537 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
538 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
539 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
540 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
541 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
542 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
543 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
544 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
545 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
546 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
547 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
548 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
549 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
550 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
551
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
552 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
553 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
554 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
555 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
556 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
557
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
558 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
559 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
560 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
561 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
562 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
563 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
564 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
565 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
566 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
567 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
568
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
569 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
570
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
571 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
572 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
573 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
574 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
575
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
576 def __init__(self, useCurvilinear = False):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
577 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None, useCurvilinear)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
578
701
4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 698
diff changeset
579 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
580 'TODO compute pPET'
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
581 collisionPoints = []
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
582 crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
583
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
584 if self.useCurvilinear:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
585 pass # Lionel
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
586 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
587 p1 = obj1.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
588 p2 = obj2.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
589 v1 = obj1.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
590 v2 = obj2.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
591 #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
592
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
593 if not moving.Point.parallel(v1, v2):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
594 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
595 if ttc is not None:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
596 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)]
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
597 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
598 pass # compute pPET
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
599 return collisionPoints, crossingZones
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
600
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
601 class CVRectPredictionParameters(PredictionParameters):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
602 '''Prediction parameters of prediction at constant velocity
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
603 for objects represented by boxes (bird eye view boxes)
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
604 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
605
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
606 def __init__(self):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
607 PredictionParameters.__init__(self, 'constant velocity for rectangles', None)
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
608
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
609 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
610 'TODO compute pPET'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
611 collisionPoints = []
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
612 crossingZones = []
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
613
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
614 # first test if there is a collision (test if movement is parallel to sides of vehicle)
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
615 # test if vehicle aligned with y axis, otherwise, compute slope
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
616
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
617
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
618 # compute approximate time of arrival
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
619
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
620 class PrototypePredictionParameters(PredictionParameters):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
621 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
622 PredictionParameters.__init__(self, 'prototypes', None)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
623 self.prototypes = prototypes
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
624 self.nPredictedTrajectories = nPredictedTrajectories
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
625 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
626 self.minSimilarity = minSimilarity
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
627 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
628 self.constantSpeed = constantSpeed
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
629 self.useFeatures = useFeatures
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
630
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
631 def getLcss(self):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
632 return self.lcss
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
633
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
634 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
635 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
636 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
637 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
638 initialPosition = obj.getPositionAtInstant(instant)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
639 initialVelocity = obj.getVelocityAtInstant(instant)
1154
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
640 predictedTrajectory = PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
641 if predictedTrajectory.valid:
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
642 predictedTrajectories.append(predictedTrajectory)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
643
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
644 def generatePredictedTrajectories(self, obj, instant):
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
645 predictedTrajectories = []
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
646 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
647 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
648 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
649 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
650 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
651 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
652 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
653 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
654 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
655 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
656 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
657 self.addPredictedTrajectories(predictedTrajectories, f, instant)
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
658 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
659 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
660 return predictedTrajectories
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
661
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
662 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
663 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
664 import unittest
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
665 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
666 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
667 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
668 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
669 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
670