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annotate python/ubc_utils.py @ 53:0a5bdbf0d1b4

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 13 Oct 2010 19:02:45 -0400
parents 441c8387f34f
children b8b3768f8d54
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1 #! /usr/bin/env python
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2 '''Various utilities to load data saved by the UBC tool(s)'''
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3
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4 import utils
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5 from moving import MovingObject, TimeInterval, Trajectory
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6
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7 __metaclass__ = type
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8
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9 userTypeNames = ['car',
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10 'pedestrian',
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11 'twowheels',
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12 'bus'
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13 'truck']
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14
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15 fileTypeNames = ['feature',
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16 'object',
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17 'prototype',
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18 'contoursequence']
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19
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20 def getFileType(s):
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21 'Finds the type in fileTypeNames'
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22 for fileType in fileTypeNames:
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23 if s.find(fileType)>0:
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24 return fileType
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25 return ''
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26
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27 def isFileType(s, fileType):
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28 return (s.find(fileType)>0)
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29
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30 def saveTrajectoryUserTypes(inFilename, outFilename, objects):
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31 '''The program saves the objects,
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32 by just copying the corresponding trajectory and velocity data
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33 from the inFilename, and saving the characteristics in objects (first line)
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34 into outFilename'''
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35 infile = utils.openCheck(inFilename)
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36 outfile = utils.openCheck(outFilename,'w')
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37
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38 if (inFilename.find('features') >= 0) or (not infile) or (not outfile):
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39 return
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40
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41 lines = utils.getLines(infile)
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42 objNum = 0 # in inFilename
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43 while lines != []:
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44 # find object in objects (index i)
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45 i = 0
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46 while (i<len(objects)) and (objects[i].num != objNum):
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47 i+=1
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49 if i<len(objects):
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50 l = lines[0].split(' ')
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51 l[3] = str(objects[i].userType)
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52 outfile.write(' '.join(l)+'\n')
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53 for l in lines[1:]:
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54 outfile.write(l+'\n')
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55 outfile.write(utils.delimiterChar+'\n')
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56 # next object
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57 objNum += 1
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58 lines = utils.getLines(infile)
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59
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60 print('read {0} objects'.format(objNum))
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61
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62 def loadTrajectories(filename, nObjects = -1):
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63 '''Loads trajectories'''
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64
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65 file = utils.openCheck(filename)
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66 if (not file):
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67 return []
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68
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69 objects = []
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70 objNum = 0
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71 objectType = getFileType(filename)
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72 lines = utils.getLines(file)
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73 while (lines != []) and ((nObjects<0) or (objNum<nObjects)):
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74 l = lines[0].split(' ')
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75 parsedLine = [int(n) for n in l[:4]]
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76 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2]))
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77 #add = True
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78 if len(lines) >= 3:
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79 obj.positions = Trajectory.load(lines[1], lines[2])
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80 if len(lines) >= 5:
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81 obj.velocities = Trajectory.load(lines[3], lines[4])
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82 if objectType == 'object':
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83 obj.userType = parsedLine[3]
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84 obj.nObjects = float(l[4])
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85 obj.featureNumbers = [int(n) for n in l[5:]]
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86
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87 # load contour data if available
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88 if len(lines) >= 6:
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89 obj.contourType = utils.line2Floats(lines[6])
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90 obj.contourOrigins = Trajectory.load(lines[7], lines[8])
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91 obj.contourSizes = Trajectory.load(lines[9], lines[10])
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92 elif objectType == 'prototype':
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93 obj.userType = parsedLine[3]
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94 obj.nMatchings = int(l[4])
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95
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96 if len(lines) != 2:
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97 objects.append(obj)
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98 objNum+=1
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99 else:
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100 print("Error two lines of data for feature %d"%(f.num))
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101
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102 lines = utils.getLines(file)
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103
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104 file.close()
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105 return objects
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106
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107 def loadCollisionPoints(filename, nPoints = -1):
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108 '''Loads collision points and returns a dict
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109 with keys as a pair of the numbers of the two interacting objects'''
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110 file = utils.openCheck(filename)
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111 if (not file):
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112 return []
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113
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114 points = {}
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115 num = 0
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116 lines = utils.getLines(file)
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117 while (lines != []) and ((nPoints<0) or (num<nPoints)):
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118 parsedLine = [int(n) for n in lines[0].split(' ')]
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119 protagonistNums = (parsedLine[0], parsedLine[1])
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120 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')],
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121 [float(n) for n in lines[2].split(' ')]]
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122
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123 num+=1
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124 lines = utils.getLines(file)
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125
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126 file.close()
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127 return points