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annotate python/utils.py @ 491:343cfd185ca6

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minor changes and reaarrangements
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 16 Apr 2014 17:43:53 -0400
parents 30b3455978d9
children 0a93afea8243 935430b1d408
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1 #! /usr/bin/env python
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2 ''' Generic utilities.'''
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3
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4 #from numpy import *
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5 #from pylab import *
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6 from datetime import time, datetime
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8 __metaclass__ = type
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9
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10 commentChar = '#'
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12 delimiterChar = '%';
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13
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14 datetimeFormat = "%Y-%m-%d %H:%M:%S"
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16 #########################
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17 # Enumerations
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18 #########################
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19
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20 def inverseEnumeration(l):
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21 'Returns the dictionary that provides for each element in the input list its index in the input list'
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22 result = {}
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23 for i,x in enumerate(l):
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24 result[x] = i
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25 return result
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26
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27 #########################
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28 # simple statistics
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29 #########################
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31 def sampleSize(stdev, tolerance, percentConfidence, printLatex = False):
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32 from scipy.stats.distributions import norm
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33 k = round(norm.ppf(0.5+percentConfidence/200., 0, 1)*100)/100. # 1.-(100-percentConfidence)/200.
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34 if printLatex:
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35 print('${0}^2\\frac{{{1}^2}}{{{2}^2}}$'.format(k, stdev, tolerance))
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36 return (k*stdev/tolerance)**2
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37
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38 def confidenceInterval(mean, stdev, nSamples, percentConfidence, trueStd = True, printLatex = False):
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39 'if trueStd, use normal distribution, otherwise, Student'
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40 from math import sqrt
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41 from scipy.stats.distributions import norm, t
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42 if trueStd:
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43 k = round(norm.ppf(0.5+percentConfidence/200., 0, 1)*100)/100. # 1.-(100-percentConfidence)/200.
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44 else: # use Student
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45 k = round(t.ppf(0.5+percentConfidence/200., nSamples-1)*100)/100.
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46 e = k*stdev/sqrt(nSamples)
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47 if printLatex:
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48 print('${0} \pm {1}\\frac{{{2}}}{{\sqrt{{{3}}}}}$'.format(mean, k, stdev, nSamples))
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49 return mean-e, mean+e
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50
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51 def computeChi2(expected, observed):
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52 '''Returns the Chi2 statistics'''
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53 result = 0.
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54 for e, o in zip(expected, observed):
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55 result += ((e-o)*(e-o))/e
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56 return result
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57
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58 class EmpiricalDistribution:
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59 def nSamples(self):
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60 return sum(self.counts)
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61
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62 def cumulativeDensityFunction(sample):
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63 '''Returns the cumulative density function of the sample of a random variable'''
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64 from numpy.core.multiarray import array
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65 from numpy.lib.function_base import unique
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66 from numpy.core.fromnumeric import sum
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67 a = array(sample)
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68 a.sort()
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69 xaxis = unique(a)
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70 counts = [sum(a <= x) for x in xaxis]
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71 return xaxis, counts
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72
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73 class EmpiricalDiscreteDistribution(EmpiricalDistribution):
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74 '''Class to represent a sample of a distribution for a discrete random variable
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75 '''
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76 from numpy.core.fromnumeric import sum
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78 def __init__(self, categories, counts):
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79 self.categories = categories
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80 self.counts = counts
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81
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82 def mean(self):
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83 result = [float(x*y) for x,y in zip(self.categories, self.counts)]
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84 return sum(result)/self.nSamples()
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85
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86 def var(self, mean = None):
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87 if not mean:
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88 m = self.mean()
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89 else:
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90 m = mean
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91 result = 0.
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92 squares = [float((x-m)*(x-m)*y) for x,y in zip(self.categories, self.counts)]
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93 return sum(squares)/(self.nSamples()-1)
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94
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95 def referenceCounts(self, probability):
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96 '''probability is a function that returns the probability of the random variable for the category values'''
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97 refProba = [probability(c) for c in self.categories]
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98 refProba[-1] = 1-sum(refProba[:-1])
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99 refCounts = [r*self.nSamples() for r in refProba]
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100 return refCounts, refProba
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101
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102 class EmpiricalContinuousDistribution(EmpiricalDistribution):
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103 '''Class to represent a sample of a distribution for a continuous random variable
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104 with the number of observations for each interval
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105 intervals (categories variable) are defined by their left limits, the last one being the right limit
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106 categories contain therefore one more element than the counts'''
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107 def __init__(self, categories, counts):
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108 # todo add samples for initialization and everything to None? (or setSamples?)
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109 self.categories = categories
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110 self.counts = counts
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111
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112 def mean(self):
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113 result = 0.
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114 for i in range(len(self.counts)-1):
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115 result += self.counts[i]*(self.categories[i]+self.categories[i+1])/2
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116 return result/self.nSamples()
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117
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118 def var(self, mean = None):
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119 if not mean:
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120 m = self.mean()
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121 else:
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122 m = mean
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123 result = 0.
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124 for i in range(len(self.counts)-1):
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125 mid = (self.categories[i]+self.categories[i+1])/2
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126 result += self.counts[i]*(mid - m)*(mid - m)
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127 return result/(self.nSamples()-1)
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128
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129 def referenceCounts(self, cdf):
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130 '''cdf is a cumulative distribution function
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131 returning the probability of the variable being less that x'''
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132 # refCumulativeCounts = [0]#[cdf(self.categories[0][0])]
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133 # for inter in self.categories:
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134 # refCumulativeCounts.append(cdf(inter[1]))
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135 refCumulativeCounts = [cdf(x) for x in self.categories[1:-1]]
35
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diff changeset
136
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diff changeset
137 refProba = [refCumulativeCounts[0]]
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diff changeset
138 for i in xrange(1,len(refCumulativeCounts)):
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diff changeset
139 refProba.append(refCumulativeCounts[i]-refCumulativeCounts[i-1])
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diff changeset
140 refProba.append(1-refCumulativeCounts[-1])
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diff changeset
141 refCounts = [p*self.nSamples() for p in refProba]
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diff changeset
142
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diff changeset
143 return refCounts, refProba
31
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144
77
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diff changeset
145 def printReferenceCounts(self, refCounts=None):
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diff changeset
146 if refCounts:
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diff changeset
147 ref = refCounts
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diff changeset
148 else:
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diff changeset
149 ref = self.referenceCounts
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diff changeset
150 for i in xrange(len(ref[0])):
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151 print('{0}-{1} & {2:0.3} & {3:0.3} \\\\'.format(self.categories[i],self.categories[i+1],ref[1][i], ref[0][i]))
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152
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diff changeset
153
31
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diff changeset
154 #########################
370
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diff changeset
155 # maths section
27
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diff changeset
156 #########################
24
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157
433
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158 # def kernelSmoothing(sampleX, X, Y, weightFunc, halfwidth):
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159 # '''Returns a smoothed weighted version of Y at the predefined values of sampleX
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160 # Sum_x weight(sample_x,x) * y(x)'''
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161 # from numpy import zeros, array
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162 # smoothed = zeros(len(sampleX))
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163 # for i,x in enumerate(sampleX):
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164 # weights = array([weightFunc(x,xx, halfwidth) for xx in X])
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diff changeset
165 # if sum(weights)>0:
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166 # smoothed[i] = sum(weights*Y)/sum(weights)
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diff changeset
167 # else:
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168 # smoothed[i] = 0
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169 # return smoothed
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170
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171 def kernelSmoothing(x, X, Y, weightFunc, halfwidth):
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diff changeset
172 '''Returns the smoothed estimate of (X,Y) at x
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173 Sum_x weight(sample_x,x) * y(x)'''
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diff changeset
174 from numpy import zeros, array
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175 weights = array([weightFunc(x,observedx, halfwidth) for observedx in X])
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diff changeset
176 if sum(weights)>0:
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diff changeset
177 return sum(weights*Y)/sum(weights)
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178 else:
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179 return 0
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180
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diff changeset
181 def uniform(center, x, halfwidth):
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182 if abs(center-x)<halfwidth:
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diff changeset
183 return 1.
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184 else:
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185 return 0.
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186
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187 def gaussian(center, x, halfwidth):
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diff changeset
188 from numpy import exp
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189 return exp(-((center-x)/halfwidth)**2/2)
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190
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diff changeset
191 def epanechnikov(center, x, halfwidth):
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192 diff = abs(center-x)
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diff changeset
193 if diff<halfwidth:
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diff changeset
194 return 1.-(diff/halfwidth)**2
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195 else:
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196 return 0.
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197
434
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diff changeset
198 def triangular(center, x, halfwidth):
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199 diff = abs(center-x)
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diff changeset
200 if diff<halfwidth:
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diff changeset
201 return 1.-abs(diff/halfwidth)
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diff changeset
202 else:
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diff changeset
203 return 0.
433
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diff changeset
204
370
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diff changeset
205 def argMaxDict(d):
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diff changeset
206 return max(d.iterkeys(), key=(lambda key: d[key]))
279
3af4c267a7bf generic simple LCSS
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parents: 276
diff changeset
207
395
6fba1ab040f1 minor modification to framestotime
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parents: 391
diff changeset
208 def framesToTime(nFrames, frameRate, initialTime = time()):
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parents: 391
diff changeset
209 '''returns a datetime.time for the time in hour, minutes and seconds
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diff changeset
210 initialTime is a datetime.time'''
248
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parents: 241
diff changeset
211 from math import floor
395
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diff changeset
212 seconds = int(floor(float(nFrames)/float(frameRate))+initialTime.hour*3600+initialTime.minute*60+initialTime.second)
261
4aa792cb0fa9 changing framesToTime to return a datetime.time
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parents: 248
diff changeset
213 h = int(floor(seconds/3600.))
248
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parents: 241
diff changeset
214 seconds = seconds - h*3600
261
4aa792cb0fa9 changing framesToTime to return a datetime.time
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parents: 248
diff changeset
215 m = int(floor(seconds/60))
248
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parents: 241
diff changeset
216 seconds = seconds - m*60
262
a048066bd20f correcting bug in framesToTime
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parents: 261
diff changeset
217 return time(h, m, seconds)
248
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parents: 241
diff changeset
218
381
387cc0142211 script to replay event annotations
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parents: 376
diff changeset
219 def timeToFrames(t, frameRate):
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diff changeset
220 return frameRate*(t.hour*3600+t.minute*60+t.second)
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parents: 376
diff changeset
221
241
ee1caff48b03 added function to sort to list of paired data X,Y
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
222 def sortXY(X,Y):
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parents: 235
diff changeset
223 'returns the sorted (x, Y(x)) sorted on X'
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parents: 235
diff changeset
224 D = {}
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parents: 235
diff changeset
225 for x, y in zip(X,Y):
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parents: 235
diff changeset
226 D[x]=y
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parents: 235
diff changeset
227 xsorted = sorted(D.keys())
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parents: 235
diff changeset
228 return xsorted, [D[x] for x in xsorted]
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parents: 235
diff changeset
229
32
48e56179c39e added ceil function
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parents: 31
diff changeset
230 def ceilDecimals(v, nDecimals):
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parents: 31
diff changeset
231 '''Rounds the number at the nth decimal
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parents: 31
diff changeset
232 eg 1.23 at 0 decimal is 2, at 1 decimal is 1.3'''
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diff changeset
233 from math import ceil,pow
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parents: 31
diff changeset
234 tens = pow(10,nDecimals)
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parents: 31
diff changeset
235 return ceil(v*tens)/tens
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parents: 31
diff changeset
236
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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parents: 116
diff changeset
237 def inBetween(bound1, bound2, x):
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parents: 116
diff changeset
238 return bound1 <= x <= bound2 or bound2 <= x<= bound1
24
6fb59cfb201e first version of segmentIntersection
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parents: 19
diff changeset
239
6fb59cfb201e first version of segmentIntersection
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diff changeset
240 def crossProduct(l1, l2):
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parents: 19
diff changeset
241 return l1[0]*l2[1]-l1[1]*l2[0]
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diff changeset
242
29
ca8e716cc231 added moving average filter
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parents: 27
diff changeset
243 def filterMovingWindow(input, halfWidth):
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parents: 27
diff changeset
244 '''Returns an array obtained after the smoothing of the input by a moving average
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parents: 27
diff changeset
245 The first and last points are copied from the original.'''
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parents: 27
diff changeset
246 width = float(halfWidth*2+1)
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parents: 27
diff changeset
247 win = ones(width,'d')
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parents: 27
diff changeset
248 result = convolve(win/width,array(inputSignal),'same')
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parents: 27
diff changeset
249 result[:halfWidth] = inputSignal[:halfWidth]
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parents: 27
diff changeset
250 result[-halfWidth:] = inputSignal[-halfWidth:]
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parents: 27
diff changeset
251 return result
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diff changeset
252
199
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parents: 197
diff changeset
253 def linearRegression(x, y, deg = 1, plotData = False):
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parents: 197
diff changeset
254 '''returns the least square estimation of the linear regression of y = ax+b
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parents: 197
diff changeset
255 as well as the plot'''
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parents: 197
diff changeset
256 from numpy.lib.polynomial import polyfit
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parents: 197
diff changeset
257 from matplotlib.pyplot import plot
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parents: 197
diff changeset
258 from numpy.core.multiarray import arange
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parents: 197
diff changeset
259 coef = polyfit(x, y, deg)
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parents: 197
diff changeset
260 if plotData:
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parents: 197
diff changeset
261 def poly(x):
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parents: 197
diff changeset
262 result = 0
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parents: 197
diff changeset
263 for i in range(len(coef)):
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diff changeset
264 result += coef[i]*x**(len(coef)-i-1)
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parents: 197
diff changeset
265 return result
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parents: 197
diff changeset
266 plot(x, y, 'x')
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parents: 197
diff changeset
267 xx = arange(min(x), max(x),(max(x)-min(x))/1000)
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parents: 197
diff changeset
268 plot(xx, [poly(z) for z in xx])
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parents: 197
diff changeset
269 return coef
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parents: 197
diff changeset
270
27
44689029a86f updated segmentIntersection and other
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parents: 24
diff changeset
271 #########################
455
abe0b2347d4c added most common utility function
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diff changeset
272 # iterable section
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parents: 434
diff changeset
273 #########################
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parents: 434
diff changeset
274
abe0b2347d4c added most common utility function
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parents: 434
diff changeset
275 def mostCommon(L):
456
825e5d49325d slight update
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parents: 455
diff changeset
276 '''Returns the most frequent element in a iterable
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parents: 455
diff changeset
277
825e5d49325d slight update
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parents: 455
diff changeset
278 taken from http://stackoverflow.com/questions/1518522/python-most-common-element-in-a-list'''
455
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diff changeset
279 from itertools import groupby
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280 from operator import itemgetter
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281 # get an iterable of (item, iterable) pairs
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diff changeset
282 SL = sorted((x, i) for i, x in enumerate(L))
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diff changeset
283 # print 'SL:', SL
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284 groups = groupby(SL, key=itemgetter(0))
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diff changeset
285 # auxiliary function to get "quality" for an item
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diff changeset
286 def _auxfun(g):
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diff changeset
287 item, iterable = g
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diff changeset
288 count = 0
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289 min_index = len(L)
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diff changeset
290 for _, where in iterable:
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diff changeset
291 count += 1
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diff changeset
292 min_index = min(min_index, where)
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diff changeset
293 # print 'item %r, count %r, minind %r' % (item, count, min_index)
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diff changeset
294 return count, -min_index
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diff changeset
295 # pick the highest-count/earliest item
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diff changeset
296 return max(groups, key=_auxfun)[0]
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297
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diff changeset
298 #########################
370
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diff changeset
299 # sequence section
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300 #########################
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301
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302 class LCSS:
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303 '''Class that keeps the LCSS parameters
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304 and puts together the various computations'''
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305 def __init__(self, similarityFunc, delta = float('inf'), aligned = False, lengthFunc = min):
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306 self.similarityFunc = similarityFunc
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307 self.aligned = aligned
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308 self.delta = delta
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diff changeset
309 self.lengthFunc = lengthFunc
389
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310 self.subSequenceIndices = [(0,0)]
370
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311
373
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312 def similarities(self, l1, l2, jshift=0):
370
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diff changeset
313 from numpy import zeros, int as npint
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314 n1 = len(l1)
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315 n2 = len(l2)
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diff changeset
316 self.similarityTable = zeros((n1+1,n2+1), dtype = npint)
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diff changeset
317 for i in xrange(1,n1+1):
374
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318 for j in xrange(max(1,i-jshift-self.delta),min(n2,i-jshift+self.delta)+1):
370
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319 if self.similarityFunc(l1[i-1], l2[j-1]):
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diff changeset
320 self.similarityTable[i,j] = self.similarityTable[i-1,j-1]+1
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321 else:
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322 self.similarityTable[i,j] = max(self.similarityTable[i-1,j], self.similarityTable[i,j-1])
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323
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324 def subSequence(self, i, j):
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diff changeset
325 '''Returns the subsequence of two sequences
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diff changeset
326 http://en.wikipedia.org/wiki/Longest_common_subsequence_problem'''
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diff changeset
327 if i == 0 or j == 0:
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328 return []
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diff changeset
329 elif self.similarityTable[i][j] == self.similarityTable[i][j-1]:
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diff changeset
330 return self.subSequence(i, j-1)
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diff changeset
331 elif self.similarityTable[i][j] == self.similarityTable[i-1][j]:
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diff changeset
332 return self.subSequence(i-1, j)
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333 else:
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334 return self.subSequence(i-1, j-1) + [(i-1,j-1)]
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diff changeset
335
373
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336 def _compute(self, _l1, _l2, computeSubSequence = False):
370
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diff changeset
337 '''returns the longest common subsequence similarity
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diff changeset
338 based on the threshold on distance between two elements of lists l1, l2
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diff changeset
339 similarityFunc returns True or False whether the two points are considered similar
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340
373
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341 if aligned, returns the best matching if using a finite delta by shiftinig the series alignments
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342
370
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343 eg distance(p1, p2) < epsilon
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344 '''
372
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345 if len(_l2) < len(_l1): # l1 is the shortest
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diff changeset
346 l1 = _l2
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347 l2 = _l1
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348 revertIndices = True
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diff changeset
349 else:
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diff changeset
350 l1 = _l1
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351 l2 = _l2
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352 revertIndices = False
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diff changeset
353 n1 = len(l1)
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diff changeset
354 n2 = len(l2)
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diff changeset
355
370
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diff changeset
356 if self.aligned:
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diff changeset
357 lcssValues = {}
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diff changeset
358 similarityTables = {}
374
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diff changeset
359 for i in xrange(-n2-self.delta+1, n1+self.delta): # interval such that [i-shift-delta, i-shift+delta] is never empty, which happens when i-shift+delta < 1 or when i-shift-delta > n2
373
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diff changeset
360 self.similarities(l1, l2, i)
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diff changeset
361 lcssValues[i] = self.similarityTable.max()
370
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diff changeset
362 similarityTables[i] = self.similarityTable
374
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diff changeset
363 #print self.similarityTable
389
6d26dcc7bba0 modifications to compute alignment for None indicators
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parents: 381
diff changeset
364 alignmentShift = argMaxDict(lcssValues) # ideally get the medium alignment shift, the one that minimizes distance
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diff changeset
365 self.similarityTable = similarityTables[alignmentShift]
372
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parents: 371
diff changeset
366 else:
389
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parents: 381
diff changeset
367 alignmentShift = 0
372
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parents: 371
diff changeset
368 self.similarities(l1, l2)
373
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diff changeset
369
374
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diff changeset
370 # threshold values for the useful part of the similarity table are n2-n1-delta and n1-n2-delta
389
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parents: 381
diff changeset
371 self.similarityTable = self.similarityTable[:min(n1, n2+alignmentShift+self.delta)+1, :min(n2, n1-alignmentShift+self.delta)+1]
373
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parents: 372
diff changeset
372
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
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parents: 371
diff changeset
373 if computeSubSequence:
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parents: 371
diff changeset
374 self.subSequenceIndices = self.subSequence(self.similarityTable.shape[0]-1, self.similarityTable.shape[1]-1)
371
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parents: 370
diff changeset
375 if revertIndices:
374
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diff changeset
376 self.subSequenceIndices = [(j,i) for i,j in self.subSequenceIndices]
372
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parents: 371
diff changeset
377 return self.similarityTable[-1,-1]
370
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diff changeset
378
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diff changeset
379 def compute(self, l1, l2, computeSubSequence = False):
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diff changeset
380 '''get methods are to be shadowed in child classes '''
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diff changeset
381 return self._compute(l1, l2, computeSubSequence)
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diff changeset
382
375
2ea8584aa80a making indicator LCSS work
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diff changeset
383 def computeAlignment(self):
370
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diff changeset
384 from numpy import mean
374
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diff changeset
385 return mean([j-i for i,j in self.subSequenceIndices])
370
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parents: 369
diff changeset
386
376
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parents: 375
diff changeset
387 def _computeNormalized(self, l1, l2, computeSubSequence = False):
370
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parents: 369
diff changeset
388 ''' compute the normalized LCSS
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parents: 369
diff changeset
389 ie, the LCSS divided by the min or mean of the indicator lengths (using lengthFunc)
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diff changeset
390 lengthFunc = lambda x,y:float(x,y)/2'''
376
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parents: 375
diff changeset
391 return float(self._compute(l1, l2, computeSubSequence))/self.lengthFunc(len(l1), len(l2))
370
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diff changeset
392
376
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diff changeset
393 def computeNormalized(self, l1, l2, computeSubSequence = False):
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parents: 375
diff changeset
394 return self._computeNormalized(l1, l2, computeSubSequence)
370
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parents: 369
diff changeset
395
376
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diff changeset
396 def _computeDistance(self, l1, l2, computeSubSequence = False):
370
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diff changeset
397 ''' compute the LCSS distance'''
376
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parents: 375
diff changeset
398 return 1-self._computeNormalized(l1, l2, computeSubSequence)
370
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parents: 369
diff changeset
399
376
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diff changeset
400 def computeDistance(self, l1, l2, computeSubSequence = False):
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parents: 375
diff changeset
401 return self._computeDistance(l1, l2, computeSubSequence)
370
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parents: 369
diff changeset
402
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parents: 369
diff changeset
403 #########################
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
404 # plotting section
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
405 #########################
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parents: 42
diff changeset
406
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
407 def plotPolygon(poly, options = ''):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
408 'Plots shapely polygon poly'
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
409 from numpy.core.multiarray import array
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
410 from matplotlib.pyplot import plot
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
411 from shapely.geometry import Polygon
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
412
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
413 tmp = array(poly.exterior)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
414 plot(tmp[:,0], tmp[:,1], options)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
415
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
416 def stepPlot(X, firstX, lastX, initialCount = 0, increment = 1):
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
417 '''for each value in X, increment by increment the initial count
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
418 returns the lists that can be plotted
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
419 to obtain a step plot increasing by one for each value in x, from first to last value
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
420 firstX and lastX should be respectively smaller and larger than all elements in X'''
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
421
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
422 sortedX = []
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
423 counts = [initialCount]
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
424 for x in sorted(X):
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
425 sortedX += [x,x]
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
426 counts.append(counts[-1])
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
427 counts.append(counts[-1]+increment)
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
428 counts.append(counts[-1])
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
429 return [firstX]+sortedX+[lastX], counts
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
430
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
431 class PlottingPropertyValues:
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
432 def __init__(self, values):
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
433 self.values = values
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
434
116
2bf5b76320c0 moved intersection plotting and added markers for scatter plots
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
435 def __getitem__(self, i):
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
436 return self.values[i%len(self.values)]
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
437
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
438 markers = PlottingPropertyValues(['+', '*', ',', '.', 'x', 'D', 's', 'o'])
116
2bf5b76320c0 moved intersection plotting and added markers for scatter plots
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
439 scatterMarkers = PlottingPropertyValues(['s','o','^','>','v','<','d','p','h','8','+','x'])
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
440
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
441 linestyles = PlottingPropertyValues(['-', '--', '-.', ':'])
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
442
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
443 colors = PlottingPropertyValues('brgmyck') # 'w'
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
444
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
445 def plotIndicatorMap(indicatorMap, squareSize, masked = True, defaultValue=-1):
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
446 from numpy import array, arange, ones, ma
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
447 from matplotlib.pyplot import pcolor
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
448 coords = array(indicatorMap.keys())
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
449 minX = min(coords[:,0])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
450 minY = min(coords[:,1])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
451 X = arange(minX, max(coords[:,0])+1.1)*squareSize
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
452 Y = arange(minY, max(coords[:,1])+1.1)*squareSize
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
453 C = defaultValue*ones((len(Y), len(X)))
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
454 for k,v in indicatorMap.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
455 C[k[1]-minY,k[0]-minX] = v
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
456 if masked:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
457 pcolor(X, Y, ma.masked_where(C==defaultValue,C))
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
458 else:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
459 pcolor(X, Y, C)
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
460
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
461 #########################
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 24
diff changeset
462 # file I/O section
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 24
diff changeset
463 #########################
24
6fb59cfb201e first version of segmentIntersection
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
464
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
465 def openCheck(filename, option = 'r', quit = False):
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
466 '''Open file filename in read mode by default
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
467 and checks it is open'''
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
468 try:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
469 return open(filename, option)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
470 except IOError:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
471 print 'File %s could not be opened.' % filename
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
472 if quit:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
473 from sys import exit
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
474 exit()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
475 return None
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
476
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
477 def readline(f, commentCharacter = commentChar):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
478 '''Modified readline function to skip comments.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
479 s = f.readline()
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
480 while (len(s) > 0) and s.startswith(commentCharacter):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
481 s = f.readline()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
482 return s.strip()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
483
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
484 def getLines(f, delimiterCharacter = delimiterChar):
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
485 '''Gets a complete entry (all the lines) in between delimiterChar.'''
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
486 dataStrings = []
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
487 s = readline(f)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
488 while (len(s) > 0) and (not s.startswith(delimiterCharacter)):
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
489 dataStrings += [s.strip()]
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
490 s = readline(f)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
491 return dataStrings
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 46
diff changeset
492
304
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
493 class FakeSecHead(object):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
494 '''Add fake section header [asection]
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
495
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
496 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
497 use read_file in Python 3.2+
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
498 '''
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
499 def __init__(self, fp):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
500 self.fp = fp
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
501 self.sechead = '[main]\n'
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
502
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
503 def readline(self):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
504 if self.sechead:
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
505 try: return self.sechead
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
506 finally: self.sechead = None
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
507 else: return self.fp.readline()
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
508
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
509 def removeExtension(filename, delimiter = '.'):
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
510 '''Returns the filename minus the extension (all characters after last .)'''
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
511 i = filename.rfind(delimiter)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
512 if i>0:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
513 return filename[:i]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
514 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
515 return filename
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
516
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
517 def cleanFilename(s):
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
518 'cleans filenames obtained when contatenating figure characteristics'
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
519 return s.replace(' ','-').replace('.','').replace('/','-')
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
520
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
521 def listfiles(dirname, extension, remove = False):
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
522 '''Returns the list of files with the extension in the directory dirname
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
523 If remove is True, the filenames are stripped from the extension'''
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
524 from os import listdir
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
525 tmp = [f for f in listdir(dirname) if f.endswith(extension)]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
526 tmp.sort()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
527 if remove:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
528 return [removeExtension(f, extension) for f in tmp]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
529 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
530 return tmp
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
531
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
532 def mkdir(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
533 'Creates a directory if it does not exist'
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
534 import os
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
535 if not os.path.exists(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
536 os.mkdir(dirname)
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
537 else:
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
538 print(dirname+' already exists')
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
539
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
540 def removeFile(filename):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
541 '''Deletes the file while avoiding raising an error
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
542 if the file does not exist'''
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
543 import os
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
544 if (os.path.exists(filename)):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
545 os.remove(filename)
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
546 else:
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
547 print(filename+' does not exist')
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
548
42
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
549 def line2Floats(l, separator=' '):
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
550 '''Returns the list of floats corresponding to the string'''
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
551 return [float(x) for x in l.split(separator)]
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
552
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
553 def line2Ints(l, separator=' '):
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
554 '''Returns the list of ints corresponding to the string'''
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
555 return [int(x) for x in l.split(separator)]
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
556
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
557 #########################
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
558 # CLI utils
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
559 #########################
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
560
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
561 def parseCLIOptions(helpMessage, options, cliArgs, optionalOptions=[]):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
562 ''' Simple function to handle similar argument parsing
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
563 Returns the dictionary of options and their values
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
564
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
565 * cliArgs are most likely directly sys.argv
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
566 (only the elements after the first one are considered)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
567
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
568 * options should be a list of strings for getopt options,
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
569 eg ['frame=','correspondences=','video=']
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
570 A value must be provided for each option, or the program quits'''
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
571 import sys, getopt
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
572 from numpy.core.fromnumeric import all
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
573 optionValues, args = getopt.getopt(cliArgs[1:], 'h', ['help']+options+optionalOptions)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
574 optionValues = dict(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
575
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
576 if '--help' in optionValues.keys() or '-h' in optionValues.keys():
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
577 print(helpMessage+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
578 '\n - Compulsory options: '+' '.join([opt.replace('=','') for opt in options])+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
579 '\n - Non-compulsory options: '+' '.join([opt.replace('=','') for opt in optionalOptions]))
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
580 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
581
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
582 missingArgument = [('--'+opt.replace('=','') in optionValues.keys()) for opt in options]
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
583 if not all(missingArgument):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
584 print('Missing argument')
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
585 print(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
586 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
587
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
588 return optionValues
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
589
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
590
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
591 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
592 # Utils to read .ini type text files for configuration, meta data...
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
593 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
594
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
595 class TrackingParameters:
483
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
596 '''Class for tracking and safety parameters
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
597
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
598 Note: framerate is already taken into account'''
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
599 def loadConfigFile(self, filename):
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
600 from ConfigParser import ConfigParser
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
601 from numpy import loadtxt
364
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
602 from os import path
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
603
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
604 config = ConfigParser()
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
605 config.readfp(FakeSecHead(openCheck(filename)))
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
606 self.sectionHeader = config.sections()[0]
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
607 self.videoFilename = config.get(self.sectionHeader, 'video-filename')
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
608 self.databaseFilename = config.get(self.sectionHeader, 'database-filename')
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
609 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename')
364
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
610 if (path.exists(self.homographyFilename)):
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
611 self.homography = loadtxt(self.homographyFilename)
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
612 else:
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
613 self.homography = None
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
614 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
348
c64a4f889b97 added safety analysis options to feature tracking (with default values for backward compatibility)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 344
diff changeset
615 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
616
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
617 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
618 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
619 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance')
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
620 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 351
diff changeset
621 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method')
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
622 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
483
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
623 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
624 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
625 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
626 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2
30b3455978d9 Corrected issues with safety-analysis script, variable names are changed and tracking.cfg accordingly
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 456
diff changeset
627 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
351
891858351bcb added new parameter (use features) for safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
628 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
629
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
630 class SceneParameters:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
631 def __init__(self, config, sectionName):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
632 from ConfigParser import NoOptionError
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
633 from ast import literal_eval
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
634 try:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
635 self.sitename = config.get(sectionName, 'sitename')
405
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
636 self.databaseFilename = config.get(sectionName, 'data-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
637 self.homographyFilename = config.get(sectionName, 'homography-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
638 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
639 self.videoFilename = config.get(sectionName, 'video-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
640 self.frameRate = config.getfloat(sectionName, 'framerate')
421
4fce27946c60 first example of video metadata using sqlalchemy
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 405
diff changeset
641 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
642 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
643 self.rotation = config.getfloat(sectionName, 'rotation')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
644 self.duration = config.getint(sectionName, 'duration')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
645 except NoOptionError as e:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
646 print(e)
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
647 print('Not a section for scene meta-data')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
648
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
649 @staticmethod
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
650 def loadConfigFile(filename):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
651 from ConfigParser import ConfigParser
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
652 config = ConfigParser()
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
653 config.readfp(openCheck(filename))
398
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
654 configDict = dict()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
655 for sectionName in config.sections():
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
656 configDict[sectionName] = SceneParameters(config, sectionName)
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
657 return configDict
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
658
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
659 #########################
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
660 # running tests
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
661 #########################
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
662
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
663 if __name__ == "__main__":
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
664 import doctest
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
665 import unittest
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
666 suite = doctest.DocFileSuite('tests/utils.txt')
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
667 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
668 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
669 #doctest.testmod()
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aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
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670 #doctest.testfile("example.txt")