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correct bug to take into account first frame num in config, and other related bugs in dltrack.py
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Jun 2024 15:31:36 -0400
parents 9f1711a85c56
children
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1 >>> from trafficintelligence.events import *
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2 >>> from trafficintelligence.moving import MovingObject, TimeInterval, Point
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3 >>> from trafficintelligence.prediction import ConstantPredictionParameters
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4
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5 >>> objects = [MovingObject(num = i, timeInterval = TimeInterval(0,10)) for i in range(10)]
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6 >>> interactions = createInteractions(objects)
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7 >>> len([i for i in interactions if len(i.roadUserNumbers) == 1])
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8 0
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9 >>> len(interactions)
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10 45
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11 >>> objects2 = [MovingObject(num = i, timeInterval = TimeInterval(0,10)) for i in range(100, 110)]
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12 >>> interactions = createInteractions(objects, objects2)
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13 >>> len([i for i in interactions if len(i.roadUserNumbers) == 1])
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14 0
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15 >>> objects3 = [MovingObject(num = i, timeInterval = TimeInterval(12,22)) for i in range(100, 110)]
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16 >>> interactions = createInteractions(objects, objects3)
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17 >>> len(interactions)
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18 0
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19 >>> interactions = createInteractions(objects, objects3, 3)
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20 >>> len(interactions)
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21 100
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22 >>> interactions[0].getTimeInterval().empty()
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23 True
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24
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25 >>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(0.,0.), TimeInterval(0,10))
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26 >>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(0,10))
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27 >>> inter = Interaction(roadUser1 = o1, roadUser2 = o2)
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28 >>> inter.computeIndicators() # should not crash with 0 speed
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29 >>> va = inter.getIndicator("Velocity Angle")
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30 >>> va.empty()
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31 True
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32
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33 >>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(1.,0.), TimeInterval(0,10))
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34 >>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(0,10))
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35 >>> inter = Interaction(roadUser1 = o1, roadUser2 = o2)
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36 >>> inter.computeIndicators()
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37 >>> predictionParams = ConstantPredictionParameters()
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38 >>> inter.computeCrossingsCollisions(predictionParams, 0.1, 10)
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39 >>> ttc = inter.getIndicator("Time to Collision")
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40 >>> ttc[0]
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41 5.0
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42 >>> ttc[1]
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43 4.0
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44 >>> (inter.collisionPoints[0][0] - Point(0.,0.)).norm2() < 0.0001
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45 True
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46 >>> (inter.collisionPoints[4][0] - Point(0.,0.)).norm2() < 0.0001
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47 True
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48 >>> inter.getIndicator(Interaction.indicatorNames[1])[4] < 0.000001 # collision angle
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49 True
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50 >>> inter.getIndicator(Interaction.indicatorNames[1])[5] is None
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51 True
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52 >>> inter.getIndicator(Interaction.indicatorNames[1])[6] # doctest:+ELLIPSIS
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53 3.1415...
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54
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55 # test if reseting object
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56 >>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,-1.), TimeInterval(0,10))
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57 >>> inter.setRoadUsers([o1,o2])
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58 >>> ttc = inter.getIndicator("Time to Collision")
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59 >>> ttc[0]
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60 5.0
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61 >>> inter.computeIndicators()
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62 >>> inter.computeCrossingsCollisions(predictionParams, 0.1, 10)
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63 >>> inter.getIndicator("Time to Collision") is None
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64 True
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65
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66 # test low speed
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67 >>> inter = Interaction(roadUser1 = o1, roadUser2 = o2)
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68 >>> inter.computeIndicators()
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69 >>> predictionParams = ConstantPredictionParameters()
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70 >>> inter.computeCrossingsCollisions(predictionParams, 0.1, 10, speedThreshold = 1.)
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71 >>> inter.getIndicator("Time to Collision") is None
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72 True
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73
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74 # 0 speed users
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75 >>> inter = Interaction(roadUser1 = MovingObject.generate(1, Point(-5.,0.), Point(0.,0.), TimeInterval(0,10)), roadUser2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,0.), TimeInterval(0,10)))
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76 >>> inter.computeIndicators()
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77 >>> predictionParams = ConstantPredictionParameters()
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78 >>> inter.computeCrossingsCollisions(predictionParams, 0.1, 10)
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79 >>> inter.getIndicator("Time to Collision") is None
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80 True
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81
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82 # test categorize
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83 >>> from collections import Counter
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84 >>> from numpy import pi
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85 >>> o1 = MovingObject.generate(0, Point(0,0), Point(1,0), TimeInterval(0,100))
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86 >>> o2 = MovingObject.generate(0, Point(100,1), Point(-1,0), TimeInterval(0,100))
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87 >>> inter12 = Interaction(roadUser1 = o1, roadUser2 = o2)
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88 >>> inter12.computeIndicators()
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89 >>> inter12.categorize(pi*20/180, pi*45/180)
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90 >>> Counter(inter12.categories.values()).most_common()[0][0] # head on
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91 0
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92 >>> inter12.categories[max(inter12.categories.keys())] # then side
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93 2
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94 >>> o3 = MovingObject.generate(0, Point(0,2), Point(1,0), TimeInterval(0,100))
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95 >>> inter13 = Interaction(roadUser1 = o1, roadUser2 = o3)
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96 >>> inter13.computeIndicators()
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97 >>> inter13.categorize(pi*20/180, pi*45/180)
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98 >>> Counter(inter13.categories.values()).most_common()[0][0] # parallel
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99 3
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100 >>> len(Counter(inter13.categories.values()))
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101 1
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102 >>> o4 = MovingObject.generate(0, Point(100,20), Point(-1,0), TimeInterval(0,100))
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103 >>> inter14 = Interaction(roadUser1 = o1, roadUser2 = o4)
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104 >>> inter14.computeIndicators()
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105 >>> inter14.categorize(pi*20/180, pi*45/180)
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106 >>> Counter(inter14.categories.values()).most_common()[0][0] # side
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107 2
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108 >>> inter12.categories[0] # first head on
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109 0
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110 >>> inter12.categories[max(inter12.categories.keys())] # then side
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111 2
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112 >>> o5 = MovingObject.generate(0, Point(50,50), Point(0,-1), TimeInterval(0,100))
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113 >>> inter15 = Interaction(roadUser1 = o1, roadUser2 = o5)
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114 >>> inter15.computeIndicators()
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115 >>> inter15.categorize(pi*20/180, pi*45/180)
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116 >>> Counter(inter15.categories.values()).most_common()[0][0] # side
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117 2
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118 >>> len(Counter(inter15.categories.values()))
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119 1
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120 >>> o6 = MovingObject.generate(0, Point(50,1), Point(0,0), TimeInterval(0,100))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
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121 >>> inter16 = Interaction(roadUser1 = o1, roadUser2 = o6)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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122 >>> inter16.computeIndicators()
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123 >>> inter16.categorize(pi*20/180, pi*45/180, speedThreshold = 0.1)
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parents: 1212
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124 >>> Counter(inter16.categories.values()).most_common()[0][0] # stationary
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
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125 4
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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126 >>> 49 in inter16.categories
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
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127 True
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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128 >>> 51 in inter16.categories # not stationary interaction past the user
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
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129 False