Mercurial > hg > nsaunier > traffic-intelligence

comparison samples/TTC/computeTTC.py @ 464:dcc821b98efc

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
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
comparison
equal deleted inserted replaced
463:cb9683f9efe7 464:dcc821b98efc
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