Mercurial Hosting > traffic-intelligence
annotate python/ubc_utils.py @ 55:88d5ee5ac164
updated comments and added shell for interaction between road users
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 13 Oct 2010 19:19:17 -0400 |
parents | 0a5bdbf0d1b4 |
children | b8b3768f8d54 |
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1 #! /usr/bin/env python |
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2 '''Various utilities to load data saved by the UBC tool(s)''' |
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3 |
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4 import utils |
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5 from moving import MovingObject, TimeInterval, Trajectory |
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6 |
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7 __metaclass__ = type |
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8 |
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9 userTypeNames = ['car', |
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10 'pedestrian', |
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11 'twowheels', |
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12 'bus' |
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13 'truck'] |
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14 |
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15 fileTypeNames = ['feature', |
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16 'object', |
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17 'prototype', |
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18 'contoursequence'] |
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19 |
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20 def getFileType(s): |
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21 'Finds the type in fileTypeNames' |
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22 for fileType in fileTypeNames: |
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23 if s.find(fileType)>0: |
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24 return fileType |
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25 return '' |
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26 |
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27 def isFileType(s, fileType): |
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28 return (s.find(fileType)>0) |
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29 |
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30 def saveTrajectoryUserTypes(inFilename, outFilename, objects): |
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31 '''The program saves the objects, |
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32 by just copying the corresponding trajectory and velocity data |
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33 from the inFilename, and saving the characteristics in objects (first line) |
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34 into outFilename''' |
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35 infile = utils.openCheck(inFilename) |
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36 outfile = utils.openCheck(outFilename,'w') |
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37 |
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38 if (inFilename.find('features') >= 0) or (not infile) or (not outfile): |
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39 return |
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40 |
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41 lines = utils.getLines(infile) |
53 | 42 objNum = 0 # in inFilename |
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43 while lines != []: |
53 | 44 # find object in objects (index i) |
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45 i = 0 |
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46 while (i<len(objects)) and (objects[i].num != objNum): |
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47 i+=1 |
53 | 48 |
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49 if i<len(objects): |
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50 l = lines[0].split(' ') |
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51 l[3] = str(objects[i].userType) |
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52 outfile.write(' '.join(l)+'\n') |
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53 for l in lines[1:]: |
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54 outfile.write(l+'\n') |
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55 outfile.write(utils.delimiterChar+'\n') |
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56 # next object |
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57 objNum += 1 |
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58 lines = utils.getLines(infile) |
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59 |
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60 print('read {0} objects'.format(objNum)) |
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61 |
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62 def loadTrajectories(filename, nObjects = -1): |
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63 '''Loads trajectories''' |
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64 |
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65 file = utils.openCheck(filename) |
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66 if (not file): |
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67 return [] |
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68 |
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69 objects = [] |
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70 objNum = 0 |
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71 objectType = getFileType(filename) |
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72 lines = utils.getLines(file) |
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73 while (lines != []) and ((nObjects<0) or (objNum<nObjects)): |
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74 l = lines[0].split(' ') |
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75 parsedLine = [int(n) for n in l[:4]] |
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76 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2])) |
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77 #add = True |
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78 if len(lines) >= 3: |
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79 obj.positions = Trajectory.load(lines[1], lines[2]) |
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80 if len(lines) >= 5: |
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81 obj.velocities = Trajectory.load(lines[3], lines[4]) |
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82 if objectType == 'object': |
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83 obj.userType = parsedLine[3] |
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84 obj.nObjects = float(l[4]) |
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85 obj.featureNumbers = [int(n) for n in l[5:]] |
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86 |
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87 # load contour data if available |
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88 if len(lines) >= 6: |
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89 obj.contourType = utils.line2Floats(lines[6]) |
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90 obj.contourOrigins = Trajectory.load(lines[7], lines[8]) |
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91 obj.contourSizes = Trajectory.load(lines[9], lines[10]) |
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92 elif objectType == 'prototype': |
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93 obj.userType = parsedLine[3] |
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94 obj.nMatchings = int(l[4]) |
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95 |
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96 if len(lines) != 2: |
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97 objects.append(obj) |
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98 objNum+=1 |
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99 else: |
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100 print("Error two lines of data for feature %d"%(f.num)) |
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101 |
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102 lines = utils.getLines(file) |
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103 |
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104 file.close() |
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105 return objects |
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106 |
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107 def loadCollisionPoints(filename, nPoints = -1): |
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108 '''Loads collision points and returns a dict |
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109 with keys as a pair of the numbers of the two interacting objects''' |
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110 file = utils.openCheck(filename) |
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111 if (not file): |
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112 return [] |
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113 |
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114 points = {} |
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115 num = 0 |
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116 lines = utils.getLines(file) |
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117 while (lines != []) and ((nPoints<0) or (num<nPoints)): |
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118 parsedLine = [int(n) for n in lines[0].split(' ')] |
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119 protagonistNums = (parsedLine[0], parsedLine[1]) |
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added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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120 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')], |
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added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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121 [float(n) for n in lines[2].split(' ')]] |
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added simple intersection description, function to load collision points
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parents:
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122 |
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added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
43
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123 num+=1 |
48
8aed225f71d8
rearranged code for function readline and getlines (and characters), moved invertHomography to cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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124 lines = utils.getLines(file) |
44
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added simple intersection description, function to load collision points
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parents:
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125 |
be3ae926e4e8
added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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126 file.close() |
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added simple intersection description, function to load collision points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
43
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127 return points |