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comparison python/prediction.py @ 946:e5970606066f

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bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 21 Jul 2017 11:25:20 -0400
parents 05d4302bf67e
children 584b9405e494
comparison
equal deleted inserted replaced
945:05d4302bf67e 946:e5970606066f
573 573
574 def generatePredictedTrajectories(self, obj, instant): 574 def generatePredictedTrajectories(self, obj, instant):
575 predictedTrajectories = [] 575 predictedTrajectories = []
576 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime: 576 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
577 if self.useFeatures and obj.hasFeatures(): 577 if self.useFeatures and obj.hasFeatures():
578 # get current features existing for the most time, sort on first instant of feature and take n first 578 if not hasattr(obj, 'currentPredictionFeatures'):
579 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant)] 579 obj.currentPredictionFeatures = []
580 else:
581 obj.currentPredictionFeatures[:] = [f for f in obj.currentPredictionFeatures if f.existsAtInstant(instant)]
582 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant) and f not in obj.currentPredictionFeatures]
580 firstInstants.sort(key = lambda t: t[1]) 583 firstInstants.sort(key = lambda t: t[1])
581 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants))]: 584 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants), self.nPredictedTrajectories-len(obj.currentPredictionFeatures))]:
585 obj.currentPredictionFeatures.append(f)
586 print len(obj.currentPredictionFeatures), self.nPredictedTrajectories
587 for f in obj.currentPredictionFeatures:
582 self.addPredictedTrajectories(predictedTrajectories, f, instant) 588 self.addPredictedTrajectories(predictedTrajectories, f, instant)
583 else: 589 else:
584 self.addPredictedTrajectories(predictedTrajectories, obj, instant) 590 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
585 return predictedTrajectories 591 return predictedTrajectories
586 592