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comparison trafficintelligence/prediction.py @ 1154:2795d0e114c9

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deal with possibility of prototype with speed 0 that crashes motion prediction
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 09 Sep 2020 16:28:38 -0400
parents 1c59091853e0
children 2064e52019db
comparison
equal deleted inserted replaced
1153:f52844c71454 1154:2795d0e114c9
67 ''' prototype is a MovingObject 67 ''' prototype is a MovingObject
68 68
69 Prediction at constant speed will not work for unrealistic trajectories 69 Prediction at constant speed will not work for unrealistic trajectories
70 that do not follow a slowly changing velocity (eg moving object trajectories, 70 that do not follow a slowly changing velocity (eg moving object trajectories,
71 but is good for realistic motion (eg features)''' 71 but is good for realistic motion (eg features)'''
72 self.valid = True
72 self.prototype = prototype 73 self.prototype = prototype
73 self.constantSpeed = constantSpeed 74 self.constantSpeed = constantSpeed
74 self.nFramesIgnore = nFramesIgnore 75 self.nFramesIgnore = nFramesIgnore
75 self.probability = probability 76 self.probability = probability
76 self.predictedPositions = {0: initialPosition} 77 self.predictedPositions = {0: initialPosition}
77 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition) 78 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
78 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position 79 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
79 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle() 80 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
80 self.initialSpeed = initialVelocity.norm2() 81 self.initialSpeed = initialVelocity.norm2()
81 if not constantSpeed: 82 if not constantSpeed:
82 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2() 83 while prototype.getVelocityAt(self.closestPointIdx).norm2() == 0. and self.closestPointIdx < prototype.length():
84 self.closestPointIdx += 1
85 if self.closestPointIdx < prototype.length():
86 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
87 else:
88 self.valid = False
83 89
84 def predictPosition(self, nTimeSteps): 90 def predictPosition(self, nTimeSteps):
85 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions: 91 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
86 deltaPosition = copy(self.deltaPosition) 92 deltaPosition = copy(self.deltaPosition)
87 if self.constantSpeed: 93 if self.constantSpeed:
568 obj.computeTrajectorySimilarities(self.prototypes, self.lcss) 574 obj.computeTrajectorySimilarities(self.prototypes, self.lcss)
569 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities): 575 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities):
570 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity: 576 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity:
571 initialPosition = obj.getPositionAtInstant(instant) 577 initialPosition = obj.getPositionAtInstant(instant)
572 initialVelocity = obj.getVelocityAtInstant(instant) 578 initialVelocity = obj.getVelocityAtInstant(instant)
573 predictedTrajectories.append(PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())) 579 predictedTrajectory = PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())
580 if predictedTrajectory.valid:
581 predictedTrajectories.append(predictedTrajectory)
574 582
575 def generatePredictedTrajectories(self, obj, instant): 583 def generatePredictedTrajectories(self, obj, instant):
576 predictedTrajectories = [] 584 predictedTrajectories = []
577 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime: 585 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
578 if self.useFeatures and obj.hasFeatures(): 586 if self.useFeatures and obj.hasFeatures():