Mercurial Hosting > traffic-intelligence
comparison samples/TTC/computeTTC.py @ 464:dcc821b98efc
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/computeTTC.py@af2222c0c9c0 |
| children |
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| 463:cb9683f9efe7 | 464:dcc821b98efc |
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| 1 def computeTTC(databaseFilename,homography,framePerSecond,videoX,videoY,collisionDistanceThreshold,bikAreaOri,bikAreaDes,carAreaOri,carAreaDes): | |
| 2 | |
| 3 import numpy as np | |
| 4 import sys | |
| 5 sys.path.append('/home/sohail/trafficintelligence/python/') | |
| 6 import moving, cvutils, storage | |
| 7 import timeToCollision | |
| 8 | |
| 9 print 'Loading database...' | |
| 10 objects = storage.loadTrajectoriesFromSqlite(databaseFilename, 'object') | |
| 11 | |
| 12 bikCount=0 | |
| 13 carCount=0 | |
| 14 bik=[] | |
| 15 car=[] | |
| 16 bikSpeed=[] | |
| 17 carSpeed=[] | |
| 18 | |
| 19 for obj in objects: | |
| 20 inCarAreaOri = False | |
| 21 inBikAreaOri = False | |
| 22 for time in obj.getTimeInterval(): | |
| 23 x=int(obj.getPositionAtInstant(time).project(homography).x) | |
| 24 y=int(obj.getPositionAtInstant(time).project(homography).y) | |
| 25 x=min(videoX-1,x) | |
| 26 y=min(videoY-1,y) | |
| 27 if bikAreaOri[y,x] == 1 and obj.userType == moving.userType2Num['bicycle']: | |
| 28 inBikAreaOri = True | |
| 29 if bikAreaDes[y,x] == 1 and inBikAreaOri == True: | |
| 30 bikCount += 1 | |
| 31 bik.append(obj) | |
| 32 bikSpeed.append(framePerSecond*3.6*np.median(obj.getSpeeds())) | |
| 33 break | |
| 34 if carAreaOri[y,x] == 1 and obj.userType == moving.userType2Num['car']: | |
| 35 inCarAreaOri = True | |
| 36 if carAreaDes[y,x] == 1 and inCarAreaOri == True: | |
| 37 carCount += 1 | |
| 38 car.append(obj) | |
| 39 carSpeed.append(framePerSecond*3.6*np.median(obj.getSpeeds())) | |
| 40 break | |
| 41 | |
| 42 print 'Computing TTC...' | |
| 43 TTC=[] | |
| 44 potCollision=0 | |
| 45 for obj1 in bik: | |
| 46 for obj2 in car: | |
| 47 ti1=obj1.getTimeInterval() | |
| 48 ti2=obj2.getTimeInterval() | |
| 49 if ti1.first < ti2.last and ti2.first < ti1.last: | |
| 50 potCollision += 1 | |
| 51 ttc=[] | |
| 52 for frameNum in range(max(ti1.first,ti2.first),min(ti1.last,ti2.last)): | |
| 53 ttcp=timeToCollision.timeToCollision(obj1,obj2,collisionDistanceThreshold,frameNum,framePerSecond) | |
| 54 if ttcp < 100: | |
| 55 ttc.append(ttcp) | |
| 56 if ttc != []: | |
| 57 ttc.sort() | |
| 58 TTC.append(ttc[int(.15*len(ttc))]) | |
| 59 | |
| 60 return bikCount,carCount,bikSpeed,carSpeed,TTC,potCollision | |
| 61 |