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comparison scripts/safety-analysis.py @ 1150:14140b55e580

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corrected issue with motion pattern for motion prediction for safety analysis (to few matches)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 28 May 2020 01:03:45 -0400
parents 8c0ec7e1eb8e
children fe35473acee3
comparison
equal deleted inserted replaced
1149:392db62ea1da 1150:14140b55e580
16 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)') 16 parser.add_argument('-d', dest = 'databaseFilename', help = 'name of the Sqlite database file (overrides the configuration file)')
17 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to analyse', type = int) 17 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to analyse', type = int)
18 # TODO analyze only 18 # TODO analyze only
19 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (cvd: vector computation (approximate); cve: equation solving; cv: discrete time (approximate)), normal adaptation, point set prediction)', choices = ['cvd', 'cve', 'cv', 'na', 'ps', 'mp']) 19 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (cvd: vector computation (approximate); cve: equation solving; cv: discrete time (approximate)), normal adaptation, point set prediction)', choices = ['cvd', 'cve', 'cv', 'na', 'ps', 'mp'])
20 parser.add_argument('-p', dest = 'prototypeDatabaseFilename', help = 'name of the database containing the prototypes') 20 parser.add_argument('-p', dest = 'prototypeDatabaseFilename', help = 'name of the database containing the prototypes')
21 parser.add_argument('-c', dest = 'minPrototypeNMatchings', help = 'minimum number of matchings per prototype', type = int, default = 1)
21 # parser.add_argument('--categorize', dest = 'categorize', help = 'computes interaction categories', action = 'store_true') TODO, add angle parameters in tracking.cfg - the safety analysis parameters should probably be spun off tracking.cfg 22 # parser.add_argument('--categorize', dest = 'categorize', help = 'computes interaction categories', action = 'store_true') TODO, add angle parameters in tracking.cfg - the safety analysis parameters should probably be spun off tracking.cfg
22 parser.add_argument('--no-motion-prediction', dest = 'noMotionPrediction', help = 'does not compute indicators like TTC depending on motion prediction', action = 'store_true') 23 parser.add_argument('--no-motion-prediction', dest = 'noMotionPrediction', help = 'does not compute indicators like TTC depending on motion prediction', action = 'store_true')
23 parser.add_argument('--pet', dest = 'computePET', help = 'computes PET', action = 'store_true') 24 parser.add_argument('--pet', dest = 'computePET', help = 'computes PET', action = 'store_true')
24 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true') 25 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true')
25 parser.add_argument('--nthreads', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1) 26 parser.add_argument('--nthreads', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1)
59 elif predictionMethod == 'mp': 60 elif predictionMethod == 'mp':
60 if args.prototypeDatabaseFilename is None: 61 if args.prototypeDatabaseFilename is None:
61 prototypes = storage.loadPrototypesFromSqlite(params.databaseFilename) 62 prototypes = storage.loadPrototypesFromSqlite(params.databaseFilename)
62 else: 63 else:
63 prototypes = storage.loadPrototypesFromSqlite(args.prototypeDatabaseFilename) 64 prototypes = storage.loadPrototypesFromSqlite(args.prototypeDatabaseFilename)
65 if args.minPrototypeNMatchings > 0:
66 prototypes = [p for p in prototypes if p.getNMatchings() >= args.minPrototypeNMatchings]
67 else:
68 nProto0Matching = 0
69 for p in prototypes:
70 if p.getNMatchings() == 0:
71 nProto0Matching += 1
72 print("Prototype {} has 0 matchings".format(p))
73 if len(prototypes) == 0 or nProto0Matching > 0:
74 print('Database has {} prototypes without any matching. Exiting'.format(nProto0Matching))
75 sys.exit()
64 for p in prototypes: 76 for p in prototypes:
65 p.getMovingObject().computeCumulativeDistances() 77 p.getMovingObject().computeCumulativeDistances()
66 predictionParameters = prediction.PrototypePredictionParameters(prototypes, params.nPredictedTrajectories, params.maxLcssDistance, params.minLcssSimilarity, params.lcssMetric, params.minFeatureTime, params.constantSpeedPrototypePrediction, params.useFeaturesForPrediction) 78 predictionParameters = prediction.PrototypePredictionParameters(prototypes, params.nPredictedTrajectories, params.maxLcssDistance, params.minLcssSimilarity, params.lcssMetric, params.minFeatureTime, params.constantSpeedPrototypePrediction, params.useFeaturesForPrediction)
67 # else: 79 # else:
68 # no else required, since parameters is required as argument 80 # no else required, since parameters is required as argument