Mercurial > hg > nsaunier > traffic-intelligence

comparison scripts/safety-analysis.py @ 857:6d89520e269f

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minor modifications to safety-analysis
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 06 Oct 2016 17:16:31 -0400
parents 806df5f61c03
children 8ba82b371eea
comparison
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856:e310577cc0b8 857:6d89520e269f
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', required = True) 14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True)
15 parser.add_argument('-n', dest = 'nObjects', help = 'number of objects to analyse', type = int)
16 # TODO analyze only
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']) 17 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') 18 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true')
17 parser.add_argument('-n', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1) 19 parser.add_argument('--nthreads', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1)
18 args = parser.parse_args() 20 args = parser.parse_args()
19 21
20 params = storage.ProcessParameters(args.configFilename) 22 params = storage.ProcessParameters(args.configFilename)
21 23
22 # parameters for prediction methods 24 # parameters for prediction methods
23 if args.predictionMethod: 25 if args.predictionMethod is not None:
24 predictionMethod = args.predictionMethod 26 predictionMethod = args.predictionMethod
25 else: 27 else:
26 predictionMethod = params.predictionMethod 28 predictionMethod = params.predictionMethod
27 29
28 def accelerationDistribution(): 30 def accelerationDistribution():
49 # params.minExtremeAcceleration, 51 # params.minExtremeAcceleration,
50 # params.maxExtremeAcceleration, 52 # params.maxExtremeAcceleration,
51 # params.maxExtremeSteering, 53 # params.maxExtremeSteering,
52 # params.useFeaturesForPrediction) 54 # params.useFeaturesForPrediction)
53 55
54 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object') 56 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename, 'object', args.nObjects, withFeatures = params.useFeaturesForPrediction)
55 if params.useFeaturesForPrediction: 57 # if params.useFeaturesForPrediction:
56 features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation 58 # features = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'feature') # needed if normal adaptation
57 for obj in objects: 59 # for obj in objects:
58 obj.setFeatures(features) 60 # obj.setFeatures(features)
59 61
60 interactions = events.createInteractions(objects) 62 interactions = events.createInteractions(objects)
61 for inter in interactions: 63 for inter in interactions:
62 inter.computeIndicators() 64 inter.computeIndicators()
63 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones, nProcesses = args.nProcesses) 65 inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones, nProcesses = args.nProcesses)