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annotate trafficintelligence/sensors.py @ 1212:af329f3330ba

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work in progress on 3D safety analysis
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 02 May 2023 17:11:24 -0400
parents cc5cb04b04b0
children
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1 #! /usr/bin/env python
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2 '''Libraries for detecting, counting, etc., road users'''
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3
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4 from numpy import mean, isnan
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5
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6 from trafficintelligence import moving
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7
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8 # TODO graphical user interface for creation
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9
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10 class Sensor:
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11 def detect(self, o):
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12 print("Detect method not implemented")
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13 return False
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14
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15 def detectInstants(self, o):
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16 print("DetectInstants method not implemented")
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17 return []
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18
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19 class BoxSensor(Sensor):
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20 def __init__(self, polygon, minNPointsInBox = 1):
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21 self.polygon = polygon # check 2xN?
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22 self.minNPointsInBox = minNPointsInBox
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23
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24 def detectInstants(self, obj):
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25 indices = obj.getPositions().getInstantsInPolygon(self.polygon)
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26 firstInstant = obj.getFirstInstant()
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27 return [i+firstInstant for i in indices]
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28
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29 def detect(self, obj):
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30 instants = self.detectInstants(obj)
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31 return len(instants) >= self.minNPointsInBox
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32
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33 def detectAnd(sensors, obj):
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34 'Returns True if all sensors detect the object'
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35 result = True
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36 for s in sensors:
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37 result = result and s.detect(obj)
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38 if not result:
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39 return result
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40 return result
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41
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42 def detectOr(sensors, obj):
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43 'Returns True if any sensor detects the object'
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44 result = False
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45 for s in sensors:
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46 result = result or s.detect(obj)
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47 if result:
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48 return result
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49 return result
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50
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51 def detectAndOrder(sensors, obj):
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52 'Returns True if all sensors are detected and in their order'
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53 detectionInstants = []
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54 for s in sensors:
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55 instants = s.detectInstants(obj)
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56 if len(instants) == 0:
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57 return False
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58 else:
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59 detectionInstants.append(mean(instants))
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60 result = True
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61 for i in range(len(sensors)-1):
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62 result = result and (detectionInstants[i] <= detectionInstants[i+1])
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63 if not result:
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64 return result
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65 return result