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comparison scripts/safety-analysis.py @ 483:30b3455978d9

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Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 02 Apr 2014 17:25:50 -0400
parents f6415f012640
children a5847c0ca27c
comparison
equal deleted inserted replaced
482:f6415f012640 483:30b3455978d9
1 #! /usr/bin/env python 1 #! /usr/bin/env python
2 2
3 import utils, storage, prediction, events, moving 3 import utils, storage, prediction, events, moving
4 4
5 import sys, argparse 5 import sys, argparse, random
6 6
7 import matplotlib.pyplot as plt 7 import matplotlib.pyplot as plt
8 import numpy as np 8 import numpy as np
9 9
10 # todo: very slow if too many predicted trajectories 10 # todo: very slow if too many predicted trajectories
11 # add computation of probality of unsucessful evasive action 11 # add computation of probality of unsucessful evasive action
12 12
13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') 13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file') 14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True)
15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps']) 15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps'])
16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true') 16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true')
17 args = parser.parse_args() 17 args = parser.parse_args()
18 18
19 params = utils.TrackingParameters() 19 params = utils.TrackingParameters()
23 if args.predictionMethod: 23 if args.predictionMethod:
24 predictionMethod = args.predictionMethod 24 predictionMethod = args.predictionMethod
25 else: 25 else:
26 predictionMethod = params.predictionMethod 26 predictionMethod = params.predictionMethod
27 27
28 accelerationDistribution = lambda: random.triangular(-params.maxNormalAcceleration, params.maxNormalAcceleration, 0.)
29 steeringDistribution = lambda: random.triangular(-params.maxNormalSteering, params.maxNormalSteering, 0.)
30
28 if predictionMethod == 'cvd': 31 if predictionMethod == 'cvd':
29 predictionParameters = prediction.CVDirectPredictionParameters() 32 predictionParameters = prediction.CVDirectPredictionParameters()
30 elif predictionMethod == 'cv': 33 elif predictionMethod == 'cv':
31 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed) 34 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed)
32 elif predictionMethod == 'na': 35 elif predictionMethod == 'na':
33 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, 36 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed,
34 params.nPredictedTrajectories, 37 params.nPredictedTrajectories,
35 params.maxAcceleration, 38 accelerationDistribution,
36 params.maxSteering, 39 steeringDistribution,
37 params.useFeaturesForPrediction) 40 params.useFeaturesForPrediction)
38 elif predictionMethod == 'ps': 41 elif predictionMethod == 'ps':
39 predictionParameters = prediction.PointSetPredictionParameters(params.nPredictedTrajectories, 42 predictionParameters = prediction.PointSetPredictionParameters(params.nPredictedTrajectories,
40 params.maxPredictedSpeed) 43 params.maxPredictedSpeed)
41 else: 44 # no else required, since parameters is required as argument
42 print('Prediction method {} is not valid. See help.'.format(predictionMethod))
43 sys.exit()
44 45
45 # evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, 46 # evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
46 # params.nPredictedTrajectories, 47 # params.nPredictedTrajectories,
47 # params.minAcceleration, 48 # params.minExtremeAcceleration,
48 # params.maxAcceleration, 49 # params.maxExtremeAcceleration,
49 # params.maxSteering, 50 # params.maxExtremeSteering,
50 # params.useFeaturesForPrediction) 51 # params.useFeaturesForPrediction)
51 52
52 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object') 53 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
53 if params.useFeaturesForPrediction: 54 if params.useFeaturesForPrediction:
54 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation 55 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation
56 obj.setFeatures(features) 57 obj.setFeatures(features)
57 58
58 interactions = events.createInteractions(objects) 59 interactions = events.createInteractions(objects)
59 for inter in interactions: 60 for inter in interactions:
60 inter.computeIndicators() 61 inter.computeIndicators()
61 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones) 62 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon*params.videoFrameRate, params.crossingZones)
62 63
63 storage.saveIndicators(params.databaseFilename, interactions) 64 storage.saveIndicators(params.databaseFilename, interactions)
64 65
65 if args.displayCollisionPoints: 66 if args.displayCollisionPoints:
66 plt.figure() 67 plt.figure()