repo/traffic-intelligence: python/prediction.py annotate

annotate python/prediction.py @ 943:b1e8453c207c

work on motion prediction using motion patterns

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Wed, 19 Jul 2017 18:02:38 -0400
parents	ab13aaf41432
children	84ebe1b031f1

rev	line source
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 240 diff changeset	1 #! /usr/bin/env python
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	2 '''Library for motion prediction methods'''
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 240 diff changeset	3
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	4 import moving
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	5 from utils import LCSS
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	6
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	7 import math, random
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	8 import numpy as np
696 ae137e3b1990 minor correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 692 diff changeset	9 from multiprocessing import Pool
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	10
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	11
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	12 class PredictedTrajectory(object):
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	13 '''Class for predicted trajectories with lazy evaluation
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	14 if the predicted position has not been already computed, compute it
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	15
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	16 it should also have a probability'''
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	17
258 d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 257 diff changeset	18 def __init__(self):
d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 257 diff changeset	19 self.probability = 0.
d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 257 diff changeset	20 self.predictedPositions = {}
d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 257 diff changeset	21 self.predictedSpeedOrientations = {}
300 f65b828e5521 working on trajectory simulation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 296 diff changeset	22 #self.collisionPoints = {}
f65b828e5521 working on trajectory simulation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 296 diff changeset	23 #self.crossingZones = {}
258 d90be3c02267 reasonably efficient computation of collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 257 diff changeset	24
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	25 def predictPosition(self, nTimeSteps):
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	26 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	27 self.predictPosition(nTimeSteps-1)
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	28 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	29 return self.predictedPositions[nTimeSteps]
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	30
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	31 def getPredictedTrajectory(self):
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	32 return moving.Trajectory.fromPointList(self.predictedPositions.values())
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	33
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	34 def getPredictedSpeeds(self):
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	35 return [so.norm for so in self.predictedSpeedOrientations.values()]
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	36
515 727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	37 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	38 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 240 diff changeset	39
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	40 class PredictedTrajectoryConstant(PredictedTrajectory):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	41 '''Predicted trajectory at constant speed or acceleration
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	42 TODO generalize by passing a series of velocities/accelerations'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	43
336 124f85c6cfae modifed default probability to float Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 300 diff changeset	44 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	45 self.control = control
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	46 self.maxSpeed = maxSpeed
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	47 self.probability = probability
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	48 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	49 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
244 5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 243 diff changeset	50
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	51 def getControl(self):
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	52 return self.control
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 240 diff changeset	53
466 e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	54 class PredictedTrajectoryPrototype(PredictedTrajectory):
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	55 '''Predicted trajectory that follows a prototype trajectory
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	56 The prototype is in the format of a moving.Trajectory: it could be
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	57 1. an observed trajectory (extracted from video)
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	58 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	59
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	60 Prediction can be done
467 08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	61 1. at constant speed (the instantaneous user speed)
08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	62 2. following the trajectory path, at the speed of the user
08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	63 (applying a constant ratio equal
08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	64 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
466 e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	65
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	66 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, probability = 1.):
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	67 ''' prototype is a MovingObject
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	68
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	69 Prediction at constant speed will not work for unrealistic trajectories
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	70 that do not follow a slowly changing velocity (eg moving object trajectories,
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	71 but is good for realistic motion (eg features)'''
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	72 self.prototype = prototype
467 08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	73 self.constantSpeed = constantSpeed
08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	74 self.probability = probability
08b67c9baca2 finished description and constructor Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 466 diff changeset	75 self.predictedPositions = {0: initialPosition}
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	76 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	77 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx)
939 a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	78 self.initialSpeed = initialVelocity.norm2()
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	79 if not constantSpeed:
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	80 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	81
470 a84b9ba9631f small progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 467 diff changeset	82 def predictPosition(self, nTimeSteps):
a84b9ba9631f small progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 467 diff changeset	83 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	84 if self.constantSpeed:
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	85 traj = self.prototype.getPositions()
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	86 trajLength = traj.length()
939 a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	87 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	88 i = self.closestPointIdx
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	89 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
939 a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	90 i += 1
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	91 if i == trajLength:
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	92 v = self.prototype.getVelocityAt(-1)
939 a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	93 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	94 else:
a2f3f3ca241e work in progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 937 diff changeset	95 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[i-1]+(traj[i]-traj[i-1])*((traveledDistance-traj.getCumulativeDistance(i-1))/traj.getDistance(i-1))
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	96 else:
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	97 traj = self.prototype.getPositions()
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	98 trajLength = traj.length()
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	99 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	100 i = int(np.floor(nSteps))
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	101 if nSteps < trajLength-1:
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	102 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	103 else:
942 ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	104 v = self.prototype.getVelocityAt(-1)
ab13aaf41432 implemented motion prediction with prototypes at constant ratio, with tests Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 940 diff changeset	105 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[-1]+v*(nSteps-trajLength+1)
470 a84b9ba9631f small progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 467 diff changeset	106 return self.predictedPositions[nTimeSteps]
a84b9ba9631f small progress Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 467 diff changeset	107
466 e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	108 class PredictedTrajectoryRandomControl(PredictedTrajectory):
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	109 '''Random vehicle control: suitable for normal adaptation'''
336 124f85c6cfae modifed default probability to float Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 300 diff changeset	110 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	111 '''Constructor
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	112 accelerationDistribution and steeringDistribution are distributions
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	113 that return random numbers drawn from them'''
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	114 self.accelerationDistribution = accelerationDistribution
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	115 self.steeringDistribution = steeringDistribution
250 59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	116 self.maxSpeed = maxSpeed
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	117 self.probability = probability
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	118 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	119 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
59f547aebaac modified prediction functions, added norm/angle representation of Points Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 245 diff changeset	120
256 dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	121 def getControl(self):
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	122 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
dc1faa7287bd added the normal adaptation class Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 255 diff changeset	123
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	124 class SafetyPoint(moving.Point):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	125 '''Can represent a collision point or crossing zone
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	126 with respective safety indicator, TTC or pPET'''
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	127 def __init__(self, p, probability = 1., indicator = -1):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	128 self.x = p.x
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	129 self.y = p.y
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	130 self.probability = probability
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	131 self.indicator = indicator
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	132
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	133 def __str__(self):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	134 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	135
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	136 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	137 def save(out, points, predictionInstant, objNum1, objNum2):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	138 for p in points:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	139 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	140
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	141 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	142 def computeExpectedIndicator(points):
696 ae137e3b1990 minor correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 692 diff changeset	143 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	144
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	145 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
662 72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	146 '''Computes the first instant
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	147 at which two predicted trajectories are within some distance threshold
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	148 Computes all the times including timeHorizon
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	149
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	150 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	151 t = 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	152 p1 = predictedTrajectory1.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	153 p2 = predictedTrajectory2.predictPosition(t)
662 72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	154 collision = (p1-p2).norm2() <= collisionDistanceThreshold
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	155 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	156 t += 1
358 c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	157 p1 = predictedTrajectory1.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	158 p2 = predictedTrajectory2.predictPosition(t)
662 72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	159 collision = (p1-p2).norm2() <= collisionDistanceThreshold
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 661 diff changeset	160 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	161
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	162 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon):
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	163 from matplotlib.pyplot import figure, axis, title, clf, savefig
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	164 figure()
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	165 #clf()
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	166 for et in predictedTrajectories1:
696 ae137e3b1990 minor correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 692 diff changeset	167 et.predictPosition(int(np.round(timeHorizon)))
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	168 et.plot('rx')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	169
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	170 for et in predictedTrajectories2:
696 ae137e3b1990 minor correction Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 692 diff changeset	171 et.predictPosition(int(np.round(timeHorizon)))
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	172 et.plot('bx')
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	173 obj1.plot('r', withOrigin = True)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	174 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	175 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	176 axis('equal')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	177 savefig('predicted-trajectories-t-{0}.png'.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	178
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	179 def calculateProbability(nMatching,similarity,objects):
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	180 sumFrequencies=sum([nMatching[p] for p in similarity.keys()])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	181 prototypeProbability={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	182 for i in similarity.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	183 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	184 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability.keys()])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	185 probabilities={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	186 for i in prototypeProbability.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	187 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	188 return probabilities
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	189
306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	190 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	191 ''' behaviour prediction first step'''
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	192 if route[0] not in noiseEntryNums:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	193 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	194 elif route[1] not in noiseExitNums:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	195 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	196 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	197 prototypesRoutes=[x for x in sorted(prototypes.keys())]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	198 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	199 similarity={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	200 for y in prototypesRoutes:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	201 if y in prototypes.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	202 prototypesIDs=prototypes[y]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	203 for x in prototypesIDs:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	204 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	205 if s >= minSimilarity:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	206 similarity[x]=s
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	207
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	208 if mostMatched==None:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	209 probabilities= calculateProbability(nMatching,similarity,objects)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	210 return probabilities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	211 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	212 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	213 keys=[k for k in similarity.keys() if similarity[k] in mostMatchedValues]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	214 newSimilarity={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	215 for i in keys:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	216 newSimilarity[i]=similarity[i]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	217 probabilities= calculateProbability(nMatching,newSimilarity,objects)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	218 return probabilities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	219
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	220 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	221 if useDestination:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	222 prototypesRoutes=[route]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	223 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	224 if route[0] not in noiseEntryNums:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	225 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	226 elif route[1] not in noiseExitNums:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	227 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	228 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	229 prototypesRoutes=[x for x in sorted(prototypes.keys())]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	230 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	231 similarity={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	232 for y in prototypesRoutes:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	233 if y in prototypes.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	234 prototypesIDs=prototypes[y]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	235 for x in prototypesIDs:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	236 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	237 if s >= minSimilarity:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	238 similarity[x]=s
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	239
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	240 newSimilarity={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	241 for i in similarity.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	242 if i in secondStepPrototypes.keys():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	243 for j in secondStepPrototypes[i]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	244 newSimilarity[j]=similarity[i]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	245 probabilities= calculateProbability(nMatching,newSimilarity,objects)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	246 return probabilities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	247
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	248 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	249 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	250 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	251 if useSpeedPrototype:
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	252 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	253 else:
613 306db0f3c7a2 move 4 functions from trajLearning file MohamedGomaa parents: 611 diff changeset	254 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	255 return prototypeTrajectories
610 0dc36203973d remove dublicated code for collision/crossing computations MohamedGomaa parents: 607 diff changeset	256
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	257 def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):#, usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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	258 '''returns the lists of collision points and crossing zones'''
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	259 # if usePrototypes:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	260 # prototypeTrajectories1 = getPrototypeTrajectory(obj1,route1,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	261 # prototypeTrajectories2 = getPrototypeTrajectory(obj2,route2,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	262 # predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	263 # predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	264 # else:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	265 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	266 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)
556 dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	267
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	268 collisionPoints = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	269 crossingZones = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	270 for et1 in predictedTrajectories1:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	271 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	272 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	273 if collision:
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	274 collisionPoints.append(SafetyPoint((p1+p2)0.5, et1.probabilityet2.probability, t))
556 dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	275 elif computeCZ: # check if there is a crossing zone
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	276 # TODO? zone should be around the points at which the traj are the closest
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	277 # look for CZ at different times, otherwise it would be a collision
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	278 # an approximation would be to look for close points at different times, ie the complementary of collision points
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	279 cz = None
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	280 t1 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	281 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	282 t2 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	283 while not cz and t2 < timeHorizon:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	284 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	285 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	286 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
636 3058e00887bc removed all issues because of tests with None, using is instead of == or != Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 630 diff changeset	287 if cz is not None:
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	288 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	289 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
556 dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	290 t2 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	291 t1 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	292
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	293 if debug:
557 b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 556 diff changeset	294 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	295
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 613 diff changeset	296 return currentInstant, collisionPoints, crossingZones
556 dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	297
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 515 diff changeset	298
665 15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 662 diff changeset	299 class PredictionParameters(object):
266 aba9711b3149 small modificatons and reorganization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 265 diff changeset	300 def __init__(self, name, maxSpeed):
257 9281878ff19e untested collision/crossing computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 256 diff changeset	301 self.name = name
266 aba9711b3149 small modificatons and reorganization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 265 diff changeset	302 self.maxSpeed = maxSpeed
aba9711b3149 small modificatons and reorganization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 265 diff changeset	303
aba9711b3149 small modificatons and reorganization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 265 diff changeset	304 def __str__(self):
aba9711b3149 small modificatons and reorganization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 265 diff changeset	305 return '{0} {1}'.format(self.name, self.maxSpeed)
257 9281878ff19e untested collision/crossing computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 256 diff changeset	306
358 c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	307 def generatePredictedTrajectories(self, obj, instant):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	308 return []
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	309
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	310 # def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):#,usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	311 # return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)#,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
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	312
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	313 def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1):#,usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	314 #def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1, usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	315 '''Computes all crossing and collision points at each common instant for two road users. '''
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	316 collisionPoints={}
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	317 crossingZones={}
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	318 if timeInterval:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	319 commonTimeInterval = timeInterval
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	320 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	321 commonTimeInterval = obj1.commonTimeInterval(obj2)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	322 if nProcesses == 1:
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	323 # if usePrototypes:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	324 # firstInstant= next( (x for x in xrange(commonTimeInterval.first,commonTimeInterval.last) if x-obj1.getFirstInstant() >= acceptPartialLength and x-obj2.getFirstInstant() >= acceptPartialLength), commonTimeInterval.last)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	325 # commonTimeIntervalList1= range(firstInstant,commonTimeInterval.last-1) # do not look at the 1 last position/velocities, often with errors
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	326 # commonTimeIntervalList2= range(firstInstant,commonTimeInterval.last-1,step) # do not look at the 1 last position/velocities, often with errors
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	327 # for i in commonTimeIntervalList2:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	328 # i, cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	329 # if len(cp) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	330 # collisionPoints[i] = cp
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	331 # if len(cz) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	332 # crossingZones[i] = cz
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	333 # if collisionPoints!={} or crossingZones!={}:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	334 # for i in commonTimeIntervalList1:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	335 # if i not in commonTimeIntervalList2:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	336 # i, cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	337 # if len(cp) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	338 # collisionPoints[i] = cp
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	339 # if len(cz) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	340 # crossingZones[i] = cz
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	341 # else:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	342 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	343 i, cp, cz = computeCrossingsCollisionsAtInstant(self, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)#,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	344 if len(cp) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	345 collisionPoints[i] = cp
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	346 if len(cz) != 0:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	347 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	348 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	349 pool = Pool(processes = nProcesses)
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	350 jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (self, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)) for i in list(commonTimeInterval)[:-1]] #,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	351 #results = [j.get() for j in jobs]
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	352 #results.sort()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	353 for j in jobs:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	354 i, cp, cz = j.get()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	355 #if len(cp) != 0 or len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	356 if len(cp) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	357 collisionPoints[i] = cp
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	358 if len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	359 crossingZones[i] = cz
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	360 pool.close()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	361 return collisionPoints, crossingZones
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	362 #return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
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	363
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	364 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	365 '''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	366 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	367 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	368 if timeInterval:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 357 diff changeset	369 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	370 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	371 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	372 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	373 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	374 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	375 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	376 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	377 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	378 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	379 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	380 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	381 # 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	382 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	383 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	384
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 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	386 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	387
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 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	389
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	390 class ConstantPredictionParameters(PredictionParameters):
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	391 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	392 PredictionParameters.__init__(self, 'constant velocity', maxSpeed)
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	393
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	394 def generatePredictedTrajectories(self, obj, instant):
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	395 return [PredictedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant), maxSpeed = self.maxSpeed)]
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	396
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	397 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	398 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	399 '''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	400 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	401 '''
352 72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	402 if useFeatures:
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	403 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	404 else:
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	405 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	406 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	407 self.nPredictedTrajectories = nPredictedTrajectories
352 72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	408 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	409 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	410 self.steeringDistribution = steeringDistribution
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	411
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	412 def __str__(self):
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	413 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	414 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	415 self.maxSteering)
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	416
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	417 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	418 predictedTrajectories = []
860 07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu> Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 826 diff changeset	419 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	420 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	421 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	422 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	423 else:
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	424 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	425 velocities = [obj.getVelocityAtInstant(instant)]
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	426 probability = 1./float(len(positions)*self.nPredictedTrajectories)
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	427 for i in xrange(self.nPredictedTrajectories):
352 72aa44072093 safety analysis script with option for prediction method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 350 diff changeset	428 for initialPosition,initialVelocity in zip(positions, velocities):
466 e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	429 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	430 initialVelocity,
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	431 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	432 self.steeringDistribution,
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	433 probability,
466 e891a41c6c75 name change in prediction.py Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 464 diff changeset	434 maxSpeed = self.maxSpeed))
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	435 return predictedTrajectories
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	436
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	437 class PointSetPredictionParameters(PredictionParameters):
489 000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 484 diff changeset	438 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	439 PredictionParameters.__init__(self, 'point set', maxSpeed)
489 000bddf84ad0 corrected bugs in safety analysis Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 484 diff changeset	440 #self.nPredictedTrajectories = nPredictedTrajectories
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	441
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	442 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	443 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	444 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	445 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	446 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	447 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	448 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	449 for initialPosition,initialVelocity in zip(positions, velocities):
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	450 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, probability = probability, maxSpeed = self.maxSpeed))
661 dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 651 diff changeset	451 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	452 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	453 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	454 return None
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	455
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	456
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	457 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	458 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	459 '''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	460 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	461
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	462 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	463 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	464 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	465 name = 'evasive action'
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	466 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	467 self.nPredictedTrajectories = nPredictedTrajectories
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	468 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	469 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	470 self.steeringDistribution = steeringDistribution
268 0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	471
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	472 def __str__(self):
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	473 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	474
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	475 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	476 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	477 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	478 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	479 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	480 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	481 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	482 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 267 diff changeset	483 velocities = [obj.getVelocityAtInstant(instant)]
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	484 probability = 1./float(self.nPredictedTrajectories)
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	485 for i in xrange(self.nPredictedTrajectories):
267 32e88b513f5c added code to compute probability of collision Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 266 diff changeset	486 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	487 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350 7e9ad2d9d79c added new parameters in safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 336 diff changeset	488 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 336 diff changeset	489 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 336 diff changeset	490 self.steeringDistribution()),
826 8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	491 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 701 diff changeset	492 self.maxSpeed))
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	493 return predictedTrajectories
257 9281878ff19e untested collision/crossing computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 256 diff changeset	494
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	495
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	496 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	497 '''Prediction parameters of prediction at constant velocity
698 8d99a9e16644 added clarification comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 696 diff changeset	498 using direct computation of the intersecting point
8d99a9e16644 added clarification comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 696 diff changeset	499 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	500
387 91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 359 diff changeset	501 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	502 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	503
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	504 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	505 collisionPoints = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	506 crossingZones = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	507
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	508 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	509 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	510 if (p1-p2).norm2() <= collisionDistanceThreshold:
940 d8ab183a7351 verified motion prediction with prototypes at constant speed (test needed) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 939 diff changeset	511 collisionPoints = [SafetyPoint((p1+p1)*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	512 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	513 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	514 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	515 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	516
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	517 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	518 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	519 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	520 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	521 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	522 #print dot1, dot2
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	523 # (computeCZ and (dot1 > 0 or dot2 > 0)) or (
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	524 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	525 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	526 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	527 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	528 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	529 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	530 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	531 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	532 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	533
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	534 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	535 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	536 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	537 else:
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	538 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	539
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	540 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	541 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	542 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	543 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	544 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	545 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	546 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 489 diff changeset	547 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	548 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	549 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	550
630 69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 629 diff changeset	551 return currentInstant, collisionPoints, crossingZones
260 36cb40c51a5e modified the organization of the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 259 diff changeset	552
464 dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	553 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	554 '''Prediction parameters of prediction at constant velocity
698 8d99a9e16644 added clarification comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 696 diff changeset	555 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 696 diff changeset	556 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	557
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	558 def __init__(self):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	559 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
359 619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 358 diff changeset	560
701 4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 698 diff changeset	561 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	562 'TODO compute pPET'
8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	563 collisionPoints = []
8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	564 crossingZones = []
269 a9988971aac8 removed legacy code + tweaks Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 268 diff changeset	565
464 dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	566 p1 = obj1.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	567 p2 = obj2.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	568 v1 = obj1.getVelocityAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 460 diff changeset	569 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	570 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	571
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	572 if intersection is not None:
484 6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 470 diff changeset	573 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
881 8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	574 if ttc is not None:
888 40994bb43148 corrected bug Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 881 diff changeset	575 collisionPoints = [SafetyPoint(intersection, 1., ttc)]
484 6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 470 diff changeset	576 else:
881 8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	577 pass # compute pPET
8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	578
8ba82b371eea work on storing PET Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 860 diff changeset	579 return currentInstant, collisionPoints, crossingZones
260 36cb40c51a5e modified the organization of the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 259 diff changeset	580
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	581 class PrototypePredictionParameters(PredictionParameters):
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	582 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True): # lcss parameters
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	583 PredictionParameters.__init__(self, 'prototypes', None)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	584 self.prototypes = prototypes
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	585 self.nPredictedTrajectories = nPredictedTrajectories
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	586 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	587 #self.similarityFunc = lambda x,y : self.lcss.computeNormalized(x, y)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	588 self.minSimilarity = minSimilarity
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	589 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	590 self.constantSpeed = constantSpeed
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	591 self.useFeatures = useFeatures
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	592
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	593 def generatePredictedTrajectories(self, obj, instant):
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	594 predictedTrajectories = []
943 b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	595 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	596 if self.useFeatures and obj.hasFeatures():
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	597 # get current features existing for the most time, sort on first instant of feature and take n first
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	598 pass
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	599 else:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	600 if not hasattr(obj, 'prototypeSimilarities'):
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	601 obj.prototypeSimilarities = []
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	602 for proto in self.prototypes:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	603 self.lcss.similarities(proto.getMovingObject().getPositions().asArray().T, obj.getPositions().asArray().T)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	604 similarities = self.lcss.similarityTable[-1, :-1].astype(float)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	605 obj.prototypeSimilarities.append(similarities/np.minimum(np.arange(1.,len(similarities)+1), proto.getMovingObject().length()*np.ones(len(similarities))))
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	606 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities):
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	607 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity:
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	608 initialPosition = obj.getPositionAtInstant(instant)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	609 initialVelocity = obj.getVelocityAtInstant(instant)
b1e8453c207c work on motion prediction using motion patterns Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 942 diff changeset	610 predictedTrajectories.append(PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings()))
607 84690dfe5560 add some functions for behaviour analysis MohamedGomaa parents: 571 diff changeset	611 return predictedTrajectories
243 e0988a8ace0c started adapting and moving to other modules Mohamed's work Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 240 diff changeset	612
255 13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	613 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	614 import doctest
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	615 import unittest
271 bbd9c09e6869 changed the names to prediction methods and predicted trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 270 diff changeset	616 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	617 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	618 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	619 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	620 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 250 diff changeset	621

Mercurial Hosting > traffic-intelligence

annotate python/prediction.py @ 943:b1e8453c207c