Mercurial Hosting > traffic-intelligence
changeset 351:891858351bcb
added new parameter (use features) for safety analysis
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Thu, 27 Jun 2013 00:25:51 -0400 |
| parents | 7e9ad2d9d79c |
| children | 72aa44072093 |
| files | c/Parameters.cpp include/Parameters.hpp python/utils.py scripts/safety-analysis.py tracking.cfg |
| diffstat | 5 files changed, 12 insertions(+), 5 deletions(-) [+] |
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--- a/c/Parameters.cpp Thu Jun 27 00:18:39 2013 -0400 +++ b/c/Parameters.cpp Thu Jun 27 00:25:51 2013 -0400 @@ -67,6 +67,7 @@ ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)") ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)") ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)") + ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction") ; po::options_description cmdLine;
--- a/include/Parameters.hpp Thu Jun 27 00:18:39 2013 -0400 +++ b/include/Parameters.hpp Thu Jun 27 00:25:51 2013 -0400 @@ -57,6 +57,7 @@ float minAcceleration; float maxAcceleration; float maxSteering; + float useFeaturesForPrediction; std::string parameterDescription;
--- a/python/utils.py Thu Jun 27 00:18:39 2013 -0400 +++ b/python/utils.py Thu Jun 27 00:25:51 2013 -0400 @@ -460,6 +460,7 @@ self.minAcceleration = config.getfloat(self.sectionHeader, 'min-acceleration')/self.videoFrameRate**2 self.maxAcceleration = config.getfloat(self.sectionHeader, 'max-acceleration')/self.videoFrameRate**2 self.maxSteering = config.getfloat(self.sectionHeader, 'max-steering')/self.videoFrameRate + self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') ######################### # sqlite
--- a/scripts/safety-analysis.py Thu Jun 27 00:18:39 2013 -0400 +++ b/scripts/safety-analysis.py Thu Jun 27 00:25:51 2013 -0400 @@ -25,23 +25,25 @@ normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories, params.maxAcceleration, - params.maxSteering) + params.maxSteering, + params.useFeaturesForPrediction) -featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories) +featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, + params.nPredictedTrajectories) evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories, params.minAcceleration, params.maxAcceleration, params.maxSteering, - False) + params.useFeaturesForPrediction) featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories, params.minAcceleration, params.maxAcceleration, params.maxSteering, - True) + params.useFeaturesForPrediction)
--- a/tracking.cfg Thu Jun 27 00:18:39 2013 -0400 +++ b/tracking.cfg Thu Jun 27 00:25:51 2013 -0400 @@ -78,4 +78,6 @@ # maximum acceleration for input distribution (m/s2) max-acceleration = 2 # maximum steering for input distribution (rad/s) -max-steering = 0.5 \ No newline at end of file +max-steering = 0.5 +# use feature positions and velocities for prediction +use-features-prediction = false \ No newline at end of file