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annotate samples/TTC/ttcCompare.py @ 464:dcc821b98efc

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integrated and reorganized Sohail s work on exact ttc computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 23 Feb 2014 23:18:08 -0500
parents TTC Sample/ttcCompare.py@af2222c0c9c0
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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462
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
1 import matplotlib.image as mpimg
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
2 from numpy.linalg.linalg import inv
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
3 from numpy import loadtxt
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
4 import computeTTC
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
5 import numpy as np
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
6 import glob
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
7
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
8 #databaseName = ['11.sqlite']
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
9 databaseName = glob.glob("*.sqlite")
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
10
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
11 bikOri = mpimg.imread('bikeOri.png')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
12 bikAreaOri = bikOri[:,:,0]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
13 bikDes = mpimg.imread('bikeDes.png')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
14 bikAreaDes = bikDes[:,:,0]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
15 carOri = mpimg.imread('carOri.png')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
16 carAreaOri = carOri[:,:,0]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
17 carDes = mpimg.imread('carDes.png')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
18 carAreaDes = carDes[:,:,0]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
19
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
20 videoY = bikOri.shape[0]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
21 videoX = bikOri.shape[1]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
22
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
23 homography=inv(loadtxt('homography.txt'))
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
24 framePerSecond=15
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
25 collisionDistanceThreshold=10
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
26
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
27 bikCount=0
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
28 carCount=0
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
29 bikSpeed=[]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
30 carSpeed=[]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
31 ttcDist=[]
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
32 potentioalCollision=0
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
33
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
34 for d in databaseName:
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
35 print d
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
36 bc,cc,bs,cs,ttcdist,potCollision = computeTTC.computeTTC(d,homography,framePerSecond,videoX,videoY,collisionDistanceThreshold,bikAreaOri,bikAreaDes,carAreaOri,carAreaDes)
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
37 bikCount += bc
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
38 carCount += cc
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
39 bikSpeed.extend(bs)
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
40 carSpeed.extend(cs)
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
41 ttcDist.extend(ttcdist)
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
42 potentioalCollision += potCollision
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
43
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
44 print 'bikCount :', bikCount
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
45 print 'carCount :', carCount
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
46 print 'Number of Potential Collisions :', potentioalCollision
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
47 np.savetxt('ttc.txt',ttcDist,fmt='%1.2f')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
48 np.savetxt('freq.txt',[bikCount,carCount,potentioalCollision],fmt='%i')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
49 np.savetxt('bikSpeed.txt',bikSpeed,fmt='%1.2f')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
50 np.savetxt('carSpeed.txt',carSpeed,fmt='%1.2f')
af2222c0c9c0 TTC tested and updatet!
Sohail Zangenehpour <sohail.zangenehpour@mail.mcgill.ca>
parents:
diff changeset
51