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annotate python/ubc_utils.py @ 52:441c8387f34f

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changed type detection to load trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 Oct 2010 18:24:11 -0400
parents 3aed17fc468d
children 0a5bdbf0d1b4
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1 #! /usr/bin/env python
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2 '''Various utilities to load data saved by the UBC tool(s)'''
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3
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4 import utils
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5 from moving import MovingObject, TimeInterval, Trajectory
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6
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7 __metaclass__ = type
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8
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9 userTypeNames = ['car',
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10 'pedestrian',
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11 'twowheels',
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12 'bus'
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13 'truck']
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14
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15 fileTypeNames = ['feature',
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16 'object',
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17 'prototype',
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18 'contoursequence']
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19
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20 def getFileType(s):
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21 'Finds the type in fileTypeNames'
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22 for fileType in fileTypeNames:
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23 if s.find(fileType)>0:
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24 return fileType
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25 return ''
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26
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27 def isFileType(s, fileType):
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28 return (s.find(fileType)>0)
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30 def saveTrajectoryUserTypes(inFilename, outFilename, objects):
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31 '''The program saves the objects,
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32 by just copying the corresponding trajectory and velocity data
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33 from the inFilename, and saving the characteristics in objects (first line)
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34 into outFilename'''
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35 infile = utils.openCheck(inFilename)
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36 outfile = utils.openCheck(outFilename,'w')
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37
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38 if (inFilename.find('features') >= 0) or (not infile) or (not outfile):
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39 return
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40
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41 lines = utils.getLines(infile)
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42 objNum = 0
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43 while lines != []:
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44 i = 0
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45 while (i<len(objects)) and (objects[i].num != objNum):
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46 i+=1
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47 if i<len(objects):
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48 l = lines[0].split(' ')
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49 l[3] = str(objects[i].userType)
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50 outfile.write(' '.join(l)+'\n')
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51 for l in lines[1:]:
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52 outfile.write(l+'\n')
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53 outfile.write(utils.delimiterChar+'\n')
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54 # next object
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55 objNum += 1
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56 lines = utils.getLines(infile)
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57
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58 print('read {0} objects'.format(objNum))
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59
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60 def loadTrajectories(filename, nObjects = -1):
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61 '''Loads trajectories'''
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62
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63 file = utils.openCheck(filename)
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64 if (not file):
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65 return []
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66
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67 objects = []
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68 objNum = 0
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69 objectType = getFileType(filename)
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70 lines = utils.getLines(file)
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71 while (lines != []) and ((nObjects<0) or (objNum<nObjects)):
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72 l = lines[0].split(' ')
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73 parsedLine = [int(n) for n in l[:4]]
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74 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2]))
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75 #add = True
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76 if len(lines) >= 3:
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77 obj.positions = Trajectory.load(lines[1], lines[2])
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78 if len(lines) >= 5:
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79 obj.velocities = Trajectory.load(lines[3], lines[4])
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80 if objectType == 'object':
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81 obj.userType = parsedLine[3]
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82 obj.nObjects = float(l[4])
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83 obj.featureNumbers = [int(n) for n in l[5:]]
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84
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85 # load contour data if available
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86 if len(lines) >= 6:
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87 obj.contourType = utils.line2Floats(lines[6])
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88 obj.contourOrigins = Trajectory.load(lines[7], lines[8])
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89 obj.contourSizes = Trajectory.load(lines[9], lines[10])
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90 elif objectType == 'prototype':
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91 obj.userType = parsedLine[3]
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92 obj.nMatchings = int(l[4])
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93
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94 if len(lines) != 2:
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95 objects.append(obj)
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96 objNum+=1
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97 else:
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98 print("Error two lines of data for feature %d"%(f.num))
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99
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100 lines = utils.getLines(file)
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101
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102 file.close()
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103 return objects
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104
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105 def loadCollisionPoints(filename, nPoints = -1):
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106 '''Loads collision points and returns a dict
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107 with keys as a pair of the numbers of the two interacting objects'''
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108 file = utils.openCheck(filename)
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109 if (not file):
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110 return []
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111
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112 points = {}
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113 num = 0
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114 lines = utils.getLines(file)
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115 while (lines != []) and ((nPoints<0) or (num<nPoints)):
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116 parsedLine = [int(n) for n in lines[0].split(' ')]
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117 protagonistNums = (parsedLine[0], parsedLine[1])
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118 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')],
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119 [float(n) for n in lines[2].split(' ')]]
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120
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121 num+=1
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122 lines = utils.getLines(file)
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123
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124 file.close()
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125 return points