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comparison scripts/safety-analysis.py @ 357:e5fe0e6d48a1

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corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 11 Jul 2013 00:07:47 -0400
parents 72aa44072093
children 619ae9a9a788
comparison
equal deleted inserted replaced
356:15fac9c45feb 357:e5fe0e6d48a1
1 #! /usr/bin/env python 1 #! /usr/bin/env python
2 2
3 import utils, storage, prediction, events 3 import utils, storage, prediction, events, moving
4 4
5 import sys, argparse 5 import sys, argparse
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
11 # add computation of probality of unsucessful evasive action
12
10 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')
11 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')
12 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity, normal adaptation, point set prediction)', choices = ['cv', 'na', 'ps']) 15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity, normal adaptation, point set prediction)', choices = ['cv', 'na', 'ps'])
16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points')
13 args = parser.parse_args() 17 args = parser.parse_args()
14 18
15 params = utils.TrackingParameters() 19 params = utils.TrackingParameters()
16 params.loadConfigFile(args.configFilename) 20 params.loadConfigFile(args.configFilename)
17 21
48 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation 52 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation
49 for obj in objects: 53 for obj in objects:
50 obj.setFeatures(features) 54 obj.setFeatures(features)
51 55
52 interactions = events.createInteractions(objects) 56 interactions = events.createInteractions(objects)
53 for inter in interactions[:1]: 57 for inter in interactions:
54 inter.computeIndicators() 58 inter.computeIndicators()
55 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones) 59 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones)
56 60
57 storage.saveIndicators(params.databaseFilename, interactions) 61 storage.saveIndicators(params.databaseFilename, interactions)
58 62
59 if False: 63 if args.displayCollisionPoints:
60 plt.figure() 64 plt.figure()
61 plt.axis('equal') 65 allCollisionPoints = []
62 for inter in interactions: 66 for inter in interactions:
63 for collisionPoints in inter.collisionPoints.values(): 67 for collisionPoints in inter.collisionPoints.values():
64 for cp in collisionPoints: 68 allCollisionPoints += collisionPoints
65 plt.plot([cp.x], [cp.y], 'x') 69 moving.Point.plotAll(allCollisionPoints)
70 plt.axis('equal')
66 71