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annotate python/utils.py @ 381:387cc0142211

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 19 Jul 2013 11:58:35 -0400
parents 2e6b8610bcaa
children 6d26dcc7bba0
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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
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7 __metaclass__ = type
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8
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9 commentChar = '#'
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11 delimiterChar = '%';
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12
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13 #########################
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14 # Enumerations
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15 #########################
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16
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17 def inverseEnumeration(l):
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18 'Returns the dictionary that provides for each element in the input list its index in the input list'
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19 result = {}
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20 for i,x in enumerate(l):
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21 result[x] = i
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22 return result
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23
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24 #########################
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25 # simple statistics
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26 #########################
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27
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28 def confidenceInterval(mean, stdev, nSamples, percentConfidence, printLatex = False):
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29 from math import sqrt
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30 from scipy.stats.distributions import norm
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31 k = round(norm.ppf(0.5+percentConfidence/200., 0, 1)*100)/100. # 1.-(100-percentConfidence)/200.
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32 e = k*stdev/sqrt(nSamples)
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33 if printLatex:
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34 print('${0} \pm {1}\\frac{{{2}}}{{\sqrt{{{3}}}}}$'.format(mean, k, stdev, nSamples))
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35 return mean-e, mean+e
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36
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37 def computeChi2(expected, observed):
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38 '''Returns the Chi2 statistics'''
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39 result = 0.
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40 for e, o in zip(expected, observed):
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41 result += ((e-o)*(e-o))/e
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42 return result
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43
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44 class EmpiricalDistribution:
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45 def nSamples(self):
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46 return sum(self.counts)
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47
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48 def cumulativeDensityFunction(sample):
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49 '''Returns the cumulative density function of the sample of a random variable'''
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50 from numpy.core.multiarray import array
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51 from numpy.lib.function_base import unique
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52 from numpy.core.fromnumeric import sum
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53 a = array(sample)
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54 a.sort()
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55 xaxis = unique(a)
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56 counts = [sum(a <= x) for x in xaxis]
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57 return xaxis, counts
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58
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59 class EmpiricalDiscreteDistribution(EmpiricalDistribution):
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60 '''Class to represent a sample of a distribution for a discrete random variable
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61 '''
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62 from numpy.core.fromnumeric import sum
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63
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64 def __init__(self, categories, counts):
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65 self.categories = categories
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66 self.counts = counts
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67
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68 def mean(self):
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69 result = [float(x*y) for x,y in zip(self.categories, self.counts)]
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70 return sum(result)/self.nSamples()
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71
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72 def var(self, mean = None):
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73 if not mean:
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74 m = self.mean()
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75 else:
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76 m = mean
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77 result = 0.
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78 squares = [float((x-m)*(x-m)*y) for x,y in zip(self.categories, self.counts)]
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79 return sum(squares)/(self.nSamples()-1)
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81 def referenceCounts(self, probability):
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82 '''probability is a function that returns the probability of the random variable for the category values'''
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83 refProba = [probability(c) for c in self.categories]
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84 refProba[-1] = 1-sum(refProba[:-1])
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85 refCounts = [r*self.nSamples() for r in refProba]
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86 return refCounts, refProba
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87
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88 class EmpiricalContinuousDistribution(EmpiricalDistribution):
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89 '''Class to represent a sample of a distribution for a continuous random variable
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90 with the number of observations for each interval
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91 intervals (categories variable) are defined by their left limits, the last one being the right limit
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92 categories contain therefore one more element than the counts'''
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93 def __init__(self, categories, counts):
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94 # todo add samples for initialization and everything to None? (or setSamples?)
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95 self.categories = categories
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96 self.counts = counts
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97
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98 def mean(self):
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99 result = 0.
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100 for i in range(len(self.counts)-1):
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101 result += self.counts[i]*(self.categories[i]+self.categories[i+1])/2
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102 return result/self.nSamples()
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103
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104 def var(self, mean = None):
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105 if not mean:
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106 m = self.mean()
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107 else:
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108 m = mean
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109 result = 0.
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110 for i in range(len(self.counts)-1):
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111 mid = (self.categories[i]+self.categories[i+1])/2
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112 result += self.counts[i]*(mid - m)*(mid - m)
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113 return result/(self.nSamples()-1)
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114
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115 def referenceCounts(self, cdf):
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116 '''cdf is a cumulative distribution function
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117 returning the probability of the variable being less that x'''
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118 # refCumulativeCounts = [0]#[cdf(self.categories[0][0])]
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119 # for inter in self.categories:
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120 # refCumulativeCounts.append(cdf(inter[1]))
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121 refCumulativeCounts = [cdf(x) for x in self.categories[1:-1]]
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122
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123 refProba = [refCumulativeCounts[0]]
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124 for i in xrange(1,len(refCumulativeCounts)):
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125 refProba.append(refCumulativeCounts[i]-refCumulativeCounts[i-1])
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126 refProba.append(1-refCumulativeCounts[-1])
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127 refCounts = [p*self.nSamples() for p in refProba]
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128
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129 return refCounts, refProba
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130
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131 def printReferenceCounts(self, refCounts=None):
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132 if refCounts:
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133 ref = refCounts
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134 else:
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135 ref = self.referenceCounts
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136 for i in xrange(len(ref[0])):
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137 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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138
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139
31
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diff changeset
140 #########################
370
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141 # maths section
27
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142 #########################
24
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143
370
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144 def argMaxDict(d):
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145 return max(d.iterkeys(), key=(lambda key: d[key]))
279
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146
248
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147 def framesToTime(nFrames, frameRate, initialTime = (0.,0.,0.)):
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148 'returns hour, minutes and seconds'
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149 from math import floor
261
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150 from datetime import time
262
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151 seconds = int(floor(float(nFrames)/float(frameRate))+initialTime[0]*3600+initialTime[1]*60+initialTime[2])
261
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diff changeset
152 h = int(floor(seconds/3600.))
248
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153 seconds = seconds - h*3600
261
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154 m = int(floor(seconds/60))
248
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155 seconds = seconds - m*60
262
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156 return time(h, m, seconds)
248
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157
381
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158 def timeToFrames(t, frameRate):
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159 return frameRate*(t.hour*3600+t.minute*60+t.second)
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160
241
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161 def sortXY(X,Y):
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162 'returns the sorted (x, Y(x)) sorted on X'
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163 D = {}
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164 for x, y in zip(X,Y):
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165 D[x]=y
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166 xsorted = sorted(D.keys())
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167 return xsorted, [D[x] for x in xsorted]
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168
32
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169 def ceilDecimals(v, nDecimals):
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170 '''Rounds the number at the nth decimal
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171 eg 1.23 at 0 decimal is 2, at 1 decimal is 1.3'''
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172 from math import ceil,pow
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173 tens = pow(10,nDecimals)
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174 return ceil(v*tens)/tens
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175
152
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176 def inBetween(bound1, bound2, x):
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diff changeset
177 return bound1 <= x <= bound2 or bound2 <= x<= bound1
24
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178
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179 def crossProduct(l1, l2):
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180 return l1[0]*l2[1]-l1[1]*l2[0]
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181
29
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182 def filterMovingWindow(input, halfWidth):
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183 '''Returns an array obtained after the smoothing of the input by a moving average
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184 The first and last points are copied from the original.'''
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185 width = float(halfWidth*2+1)
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186 win = ones(width,'d')
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187 result = convolve(win/width,array(inputSignal),'same')
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188 result[:halfWidth] = inputSignal[:halfWidth]
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189 result[-halfWidth:] = inputSignal[-halfWidth:]
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190 return result
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191
199
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192 def linearRegression(x, y, deg = 1, plotData = False):
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diff changeset
193 '''returns the least square estimation of the linear regression of y = ax+b
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194 as well as the plot'''
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diff changeset
195 from numpy.lib.polynomial import polyfit
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diff changeset
196 from matplotlib.pyplot import plot
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197 from numpy.core.multiarray import arange
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diff changeset
198 coef = polyfit(x, y, deg)
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diff changeset
199 if plotData:
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diff changeset
200 def poly(x):
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201 result = 0
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202 for i in range(len(coef)):
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diff changeset
203 result += coef[i]*x**(len(coef)-i-1)
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diff changeset
204 return result
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205 plot(x, y, 'x')
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diff changeset
206 xx = arange(min(x), max(x),(max(x)-min(x))/1000)
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diff changeset
207 plot(xx, [poly(z) for z in xx])
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diff changeset
208 return coef
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209
27
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diff changeset
210 #########################
370
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diff changeset
211 # sequence section
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diff changeset
212 #########################
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diff changeset
213
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214 class LCSS:
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diff changeset
215 '''Class that keeps the LCSS parameters
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diff changeset
216 and puts together the various computations'''
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diff changeset
217 def __init__(self, similarityFunc, delta = float('inf'), aligned = False, lengthFunc = min):
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diff changeset
218 self.similarityFunc = similarityFunc
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diff changeset
219 self.aligned = aligned
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diff changeset
220 self.delta = delta
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diff changeset
221 self.lengthFunc = lengthFunc
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diff changeset
222 self.alignmentShift = 0
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diff changeset
223
373
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diff changeset
224 def similarities(self, l1, l2, jshift=0):
370
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diff changeset
225 from numpy import zeros, int as npint
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diff changeset
226 n1 = len(l1)
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diff changeset
227 n2 = len(l2)
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diff changeset
228 self.similarityTable = zeros((n1+1,n2+1), dtype = npint)
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diff changeset
229 for i in xrange(1,n1+1):
374
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diff changeset
230 for j in xrange(max(1,i-jshift-self.delta),min(n2,i-jshift+self.delta)+1):
370
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diff changeset
231 if self.similarityFunc(l1[i-1], l2[j-1]):
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diff changeset
232 self.similarityTable[i,j] = self.similarityTable[i-1,j-1]+1
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diff changeset
233 else:
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diff changeset
234 self.similarityTable[i,j] = max(self.similarityTable[i-1,j], self.similarityTable[i,j-1])
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diff changeset
235
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diff changeset
236 def subSequence(self, i, j):
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diff changeset
237 '''Returns the subsequence of two sequences
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diff changeset
238 http://en.wikipedia.org/wiki/Longest_common_subsequence_problem'''
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diff changeset
239 if i == 0 or j == 0:
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diff changeset
240 return []
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diff changeset
241 elif self.similarityTable[i][j] == self.similarityTable[i][j-1]:
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diff changeset
242 return self.subSequence(i, j-1)
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diff changeset
243 elif self.similarityTable[i][j] == self.similarityTable[i-1][j]:
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diff changeset
244 return self.subSequence(i-1, j)
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diff changeset
245 else:
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diff changeset
246 return self.subSequence(i-1, j-1) + [(i-1,j-1)]
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diff changeset
247
373
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diff changeset
248 def _compute(self, _l1, _l2, computeSubSequence = False):
370
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diff changeset
249 '''returns the longest common subsequence similarity
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diff changeset
250 based on the threshold on distance between two elements of lists l1, l2
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diff changeset
251 similarityFunc returns True or False whether the two points are considered similar
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diff changeset
252
373
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diff changeset
253 if aligned, returns the best matching if using a finite delta by shiftinig the series alignments
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diff changeset
254
370
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diff changeset
255 eg distance(p1, p2) < epsilon
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diff changeset
256 '''
372
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diff changeset
257 if len(_l2) < len(_l1): # l1 is the shortest
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diff changeset
258 l1 = _l2
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diff changeset
259 l2 = _l1
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diff changeset
260 revertIndices = True
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diff changeset
261 else:
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diff changeset
262 l1 = _l1
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parents: 371
diff changeset
263 l2 = _l2
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parents: 371
diff changeset
264 revertIndices = False
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diff changeset
265 n1 = len(l1)
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parents: 371
diff changeset
266 n2 = len(l2)
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parents: 371
diff changeset
267
370
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diff changeset
268 if self.aligned:
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diff changeset
269 lcssValues = {}
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diff changeset
270 similarityTables = {}
374
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diff changeset
271 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
272 self.similarities(l1, l2, i)
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diff changeset
273 lcssValues[i] = self.similarityTable.max()
370
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diff changeset
274 similarityTables[i] = self.similarityTable
374
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diff changeset
275 #print self.similarityTable
373
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diff changeset
276 self.alignmentShift = argMaxDict(lcssValues) # ideally get the medium alignment shift, the one that minimizes distance
372
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diff changeset
277 self.similarityTable = similarityTables[self.alignmentShift]
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diff changeset
278 else:
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279 self.alignmentShift = 0
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diff changeset
280 self.similarities(l1, l2)
373
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diff changeset
281
374
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diff changeset
282 # threshold values for the useful part of the similarity table are n2-n1-delta and n1-n2-delta
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diff changeset
283 self.similarityTable = self.similarityTable[:min(n1, n2+self.alignmentShift+self.delta)+1, :min(n2, n1-self.alignmentShift+self.delta)+1]
373
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284
372
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285 if computeSubSequence:
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286 self.subSequenceIndices = self.subSequence(self.similarityTable.shape[0]-1, self.similarityTable.shape[1]-1)
371
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diff changeset
287 if revertIndices:
374
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diff changeset
288 self.subSequenceIndices = [(j,i) for i,j in self.subSequenceIndices]
372
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diff changeset
289 return self.similarityTable[-1,-1]
370
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290
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291 def compute(self, l1, l2, computeSubSequence = False):
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292 '''get methods are to be shadowed in child classes '''
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293 return self._compute(l1, l2, computeSubSequence)
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294
375
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295 def computeAlignment(self):
370
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diff changeset
296 from numpy import mean
374
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297 return mean([j-i for i,j in self.subSequenceIndices])
370
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298
376
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299 def _computeNormalized(self, l1, l2, computeSubSequence = False):
370
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300 ''' compute the normalized LCSS
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301 ie, the LCSS divided by the min or mean of the indicator lengths (using lengthFunc)
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302 lengthFunc = lambda x,y:float(x,y)/2'''
376
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diff changeset
303 return float(self._compute(l1, l2, computeSubSequence))/self.lengthFunc(len(l1), len(l2))
370
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304
376
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305 def computeNormalized(self, l1, l2, computeSubSequence = False):
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306 return self._computeNormalized(l1, l2, computeSubSequence)
370
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307
376
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diff changeset
308 def _computeDistance(self, l1, l2, computeSubSequence = False):
370
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diff changeset
309 ''' compute the LCSS distance'''
376
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diff changeset
310 return 1-self._computeNormalized(l1, l2, computeSubSequence)
370
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311
376
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diff changeset
312 def computeDistance(self, l1, l2, computeSubSequence = False):
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diff changeset
313 return self._computeDistance(l1, l2, computeSubSequence)
370
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314
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diff changeset
315 #########################
45
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diff changeset
316 # plotting section
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317 #########################
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diff changeset
318
332
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diff changeset
319 def plotPolygon(poly, options = ''):
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diff changeset
320 'Plots shapely polygon poly'
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diff changeset
321 from numpy.core.multiarray import array
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diff changeset
322 from matplotlib.pyplot import plot
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diff changeset
323 from shapely.geometry import Polygon
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324
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diff changeset
325 tmp = array(poly.exterior)
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diff changeset
326 plot(tmp[:,0], tmp[:,1], options)
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327
324
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328 def stepPlot(X, firstX, lastX, initialCount = 0, increment = 1):
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diff changeset
329 '''for each value in X, increment by increment the initial count
297
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diff changeset
330 returns the lists that can be plotted
324
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diff changeset
331 to obtain a step plot increasing by one for each value in x, from first to last value
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diff changeset
332 firstX and lastX should be respectively smaller and larger than all elements in X'''
297
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diff changeset
333
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diff changeset
334 sortedX = []
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diff changeset
335 counts = [initialCount]
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diff changeset
336 for x in sorted(X):
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diff changeset
337 sortedX += [x,x]
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diff changeset
338 counts.append(counts[-1])
324
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diff changeset
339 counts.append(counts[-1]+increment)
297
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diff changeset
340 counts.append(counts[-1])
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diff changeset
341 return [firstX]+sortedX+[lastX], counts
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diff changeset
342
45
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diff changeset
343 class PlottingPropertyValues:
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diff changeset
344 def __init__(self, values):
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diff changeset
345 self.values = values
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diff changeset
346
116
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diff changeset
347 def __getitem__(self, i):
45
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diff changeset
348 return self.values[i%len(self.values)]
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diff changeset
349
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diff changeset
350 markers = PlottingPropertyValues(['+', '*', ',', '.', 'x', 'D', 's', 'o'])
116
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diff changeset
351 scatterMarkers = PlottingPropertyValues(['s','o','^','>','v','<','d','p','h','8','+','x'])
45
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diff changeset
352
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diff changeset
353 linestyles = PlottingPropertyValues(['-', '--', '-.', ':'])
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diff changeset
354
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diff changeset
355 colors = PlottingPropertyValues('brgmyck') # 'w'
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diff changeset
356
115
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diff changeset
357 def plotIndicatorMap(indicatorMap, squareSize, masked = True, defaultValue=-1):
65
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diff changeset
358 from numpy import array, arange, ones, ma
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diff changeset
359 from matplotlib.pyplot import pcolor
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diff changeset
360 coords = array(indicatorMap.keys())
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diff changeset
361 minX = min(coords[:,0])
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diff changeset
362 minY = min(coords[:,1])
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diff changeset
363 X = arange(minX, max(coords[:,0])+1.1)*squareSize
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diff changeset
364 Y = arange(minY, max(coords[:,1])+1.1)*squareSize
115
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diff changeset
365 C = defaultValue*ones((len(Y), len(X)))
65
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diff changeset
366 for k,v in indicatorMap.iteritems():
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diff changeset
367 C[k[1]-minY,k[0]-minX] = v
115
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diff changeset
368 if masked:
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diff changeset
369 pcolor(X, Y, ma.masked_where(C==defaultValue,C))
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diff changeset
370 else:
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diff changeset
371 pcolor(X, Y, C)
65
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diff changeset
372
45
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diff changeset
373 #########################
27
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parents: 24
diff changeset
374 # file I/O section
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parents: 24
diff changeset
375 #########################
24
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parents: 19
diff changeset
376
0
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parents:
diff changeset
377 def openCheck(filename, option = 'r', quit = False):
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parents:
diff changeset
378 '''Open file filename in read mode by default
31
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parents: 29
diff changeset
379 and checks it is open'''
0
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parents:
diff changeset
380 try:
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diff changeset
381 return open(filename, option)
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parents:
diff changeset
382 except IOError:
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parents:
diff changeset
383 print 'File %s could not be opened.' % filename
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parents:
diff changeset
384 if quit:
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diff changeset
385 from sys import exit
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diff changeset
386 exit()
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diff changeset
387 return None
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parents:
diff changeset
388
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 46
diff changeset
389 def readline(f, commentCharacter = commentChar):
0
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parents:
diff changeset
390 '''Modified readline function to skip comments.'''
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parents:
diff changeset
391 s = f.readline()
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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diff changeset
392 while (len(s) > 0) and s.startswith(commentCharacter):
0
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parents:
diff changeset
393 s = f.readline()
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parents:
diff changeset
394 return s.strip()
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parents:
diff changeset
395
48
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 46
diff changeset
396 def getLines(f, delimiterCharacter = delimiterChar):
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diff changeset
397 '''Gets a complete entry (all the lines) in between delimiterChar.'''
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parents: 46
diff changeset
398 dataStrings = []
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 46
diff changeset
399 s = readline(f)
8aed225f71d8 rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
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parents: 46
diff changeset
400 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
401 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
402 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
403 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
404
304
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
405 class FakeSecHead(object):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
406 '''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
407
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
408 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
409 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
410 '''
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
411 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
412 self.fp = fp
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
413 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
414
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
415 def readline(self):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
416 if self.sechead:
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
417 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
418 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
419 else: return self.fp.readline()
20f9cd972dde added capability to parse cfg file for display-trajectories.py
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parents: 301
diff changeset
420
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
421 def removeExtension(filename, delimiter = '.'):
31
c000f37c316d moved tests to independent file, added chi2 computation
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parents: 29
diff changeset
422 '''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
423 i = filename.rfind(delimiter)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
424 if i>0:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
425 return filename[:i]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
426 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
427 return filename
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
428
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
429 def cleanFilename(s):
b5d007612e16 added filename util
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parents: 45
diff changeset
430 'cleans filenames obtained when contatenating figure characteristics'
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
431 return s.replace(' ','-').replace('.','').replace('/','-')
46
b5d007612e16 added filename util
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parents: 45
diff changeset
432
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
433 def listfiles(dirname, extension, remove = False):
14
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
434 '''Returns the list of files with the extension in the directory dirname
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parents: 7
diff changeset
435 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
436 from os import listdir
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
437 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
438 tmp.sort()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
439 if remove:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
440 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
441 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
442 return tmp
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
443
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
444 def mkdir(dirname):
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
445 'Creates a directory if it does not exist'
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
446 import os
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
447 if not os.path.exists(dirname):
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parents: 262
diff changeset
448 os.mkdir(dirname)
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
449 else:
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
450 print(dirname+' already exists')
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
451
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
452 def removeFile(filename):
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
453 '''Deletes the file while avoiding raising an error
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
454 if the file does not exist'''
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
455 import os
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
456 if (os.path.exists(filename)):
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
457 os.remove(filename)
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
458 else:
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
459 print(filename+' does not exist')
14
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
460
42
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
461 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
462 '''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
463 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
464
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
465 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
466 '''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
467 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
468
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
469 #########################
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
470 # CLI utils
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
471 #########################
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
472
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
473 def parseCLIOptions(helpMessage, options, cliArgs, optionalOptions=[]):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
474 ''' Simple function to handle similar argument parsing
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
475 Returns the dictionary of options and their values
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
476
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
477 * cliArgs are most likely directly sys.argv
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
478 (only the elements after the first one are considered)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
479
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
480 * options should be a list of strings for getopt options,
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
481 eg ['frame=','correspondences=','video=']
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
482 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
483 import sys, getopt
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
484 from numpy.core.fromnumeric import all
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
485 optionValues, args = getopt.getopt(cliArgs[1:], 'h', ['help']+options+optionalOptions)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
486 optionValues = dict(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
487
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
488 if '--help' in optionValues.keys() or '-h' in optionValues.keys():
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
489 print(helpMessage+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
490 '\n - Compulsory options: '+' '.join([opt.replace('=','') for opt in options])+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
491 '\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
492 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
493
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
494 missingArgument = [('--'+opt.replace('=','') in optionValues.keys()) for opt in options]
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
495 if not all(missingArgument):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
496 print('Missing argument')
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
497 print(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
498 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
499
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
500 return optionValues
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
501
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
502 class TrackingParameters:
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
503 def loadConfigFile(self, filename):
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
504 from ConfigParser import ConfigParser
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
505 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
506 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
507
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
508 config = ConfigParser()
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
509 config.readfp(FakeSecHead(openCheck(filename)))
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
510 self.sectionHeader = config.sections()[0]
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
511 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
512 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
513 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
514 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
515 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
516 else:
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
517 self.homography = None
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
518 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
519 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
520
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
521 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
522 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
523 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
524 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
525 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
526 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
527 self.minAcceleration = config.getfloat(self.sectionHeader, 'min-acceleration')/self.videoFrameRate**2
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
528 self.maxAcceleration = config.getfloat(self.sectionHeader, 'max-acceleration')/self.videoFrameRate**2
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
529 self.maxSteering = config.getfloat(self.sectionHeader, 'max-steering')/self.videoFrameRate
351
891858351bcb added new parameter (use features) for safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
530 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
531
332
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532 #########################
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533 # sqlite
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534 #########################
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535
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536 def printDBError(error):
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537 print('DB Error: {}'.format(error))
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538
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539 def dropTables(connection, tableNames):
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540 'deletes the table with names in tableNames'
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541 import sqlite3
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542 try:
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543 cursor = connection.cursor()
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544 for tableName in tableNames:
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545 cursor.execute('DROP TABLE '+tableName)
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546 except sqlite3.OperationalError as error:
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547 printDBError(error)
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548
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549 #########################
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550 # running tests
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551 #########################
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552
0
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553 if __name__ == "__main__":
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554 import doctest
2
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555 import unittest
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556 suite = doctest.DocFileSuite('tests/utils.txt')
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557 #suite = doctest.DocTestSuite()
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558 unittest.TextTestRunner().run(suite)
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559 #doctest.testmod()
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560 #doctest.testfile("example.txt")