Mercurial > hg > nsaunier > traffic-intelligence

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

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
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
equal deleted inserted replaced
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