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comparison scripts/safety-analysis.py @ 348:c64a4f889b97

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added safety analysis options to feature tracking (with default values for backward compatibility)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Jun 2013 18:40:31 -0400
parents 14a2405f54f8
children 7e9ad2d9d79c
comparison
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347:7b865f4174aa 348:c64a4f889b97
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 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') 10 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
11 parser.add_argument('configFilename', help = 'name of the configuration file') 11 parser.add_argument('configFilename', help = 'name of the configuration file')
12 # parser.add_argument('-c', help = 'name of the configuration file') # 12 #parser.add_argument('--maxspeed', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
13 #parser.add_argument('--time-horizon', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
13 args = parser.parse_args() 14 args = parser.parse_args()
14 print(args) 15
15 # TODO work on the way to indicate an interaction definition 16 # TODO work on the way to indicate an interaction definition
16 17
17 # if False: # test if there is a configuration file? 18 # if False: # test if there is a configuration file?
18 params = utils.TrackingParameters() 19 params = utils.TrackingParameters()
19 params.loadConfigFile(args.configFilename) 20 params.loadConfigFile(args.configFilename)
20 21
21 # configuration parameters # TODO from command line 22 # configuration parameters # TODO from command line
22 frameRate = 15 # frame per second 23 maxSpeed = args.maxSpeed/3.6/params.videoFrameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways
23 maxSpeed = 90/3.6/frameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways 24 timeHorizon= params.videoFrameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
24 timeHorizon= frameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
25 collisionDistanceThreshold= 1.8 # m 25 collisionDistanceThreshold= 1.8 # m
26 computeCZ = True 26 computeCZ = False
27 27
28 display = False 28 # display = False
29 29
30 # parameters for prediction methods 30 # parameters for prediction methods
31 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed) 31 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed)
32 32
33 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(maxSpeed, 100, 2./frameRate**2, # m/s2 33 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(maxSpeed, 100, 2./frameRate**2, # m/s2
51 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation 51 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation
52 52
53 interactions = events.createInteractions(objects) 53 interactions = events.createInteractions(objects)
54 for inter in interactions: 54 for inter in interactions:
55 inter.computeIndicators() 55 inter.computeIndicators()
56 # inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ) 56 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ)
57 57
58 storage.saveIndicators(params.databaseFilename, interactions) 58 storage.saveIndicators(params.databaseFilename, interactions)
59 59
60 if display: 60 # if display:
61 plt.figure() 61 # plt.figure()
62 plt.axis('equal') 62 # plt.axis('equal')
63 for inter in interactions[:2]: 63 # for inter in interactions[:2]:
64 for collisionPoints in inter.collisionPoints.values(): 64 # for collisionPoints in inter.collisionPoints.values():
65 for cp in collisionPoints: 65 # for cp in collisionPoints:
66 plot([cp.x], [cp.y], 'x') 66 # plot([cp.x], [cp.y], 'x')
67 67
68 # for the demo, output automatically a map 68 # for the demo, output automatically a map
69 # possibility to process longitudinal coords only 69 # possibility to process longitudinal coords only
70 70