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annotate python/utils.py @ 434:9a714f32fc9f

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small updates
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sat, 30 Nov 2013 18:03:35 -0500
parents d40ad901b272
children abe0b2347d4c
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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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30
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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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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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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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diff changeset
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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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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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
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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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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
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parents: 19
diff changeset
239
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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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diff changeset
251 return result
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parents: 27
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 #########################
370
97e8fa0ee9a1 work in progress for complete alignment
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parents: 369
diff changeset
272 # sequence section
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parents: 369
diff changeset
273 #########################
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parents: 369
diff changeset
274
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parents: 369
diff changeset
275 class LCSS:
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parents: 369
diff changeset
276 '''Class that keeps the LCSS parameters
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parents: 369
diff changeset
277 and puts together the various computations'''
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diff changeset
278 def __init__(self, similarityFunc, delta = float('inf'), aligned = False, lengthFunc = min):
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diff changeset
279 self.similarityFunc = similarityFunc
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280 self.aligned = aligned
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281 self.delta = delta
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diff changeset
282 self.lengthFunc = lengthFunc
389
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diff changeset
283 self.subSequenceIndices = [(0,0)]
370
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diff changeset
284
373
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diff changeset
285 def similarities(self, l1, l2, jshift=0):
370
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diff changeset
286 from numpy import zeros, int as npint
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287 n1 = len(l1)
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diff changeset
288 n2 = len(l2)
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289 self.similarityTable = zeros((n1+1,n2+1), dtype = npint)
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diff changeset
290 for i in xrange(1,n1+1):
374
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diff changeset
291 for j in xrange(max(1,i-jshift-self.delta),min(n2,i-jshift+self.delta)+1):
370
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diff changeset
292 if self.similarityFunc(l1[i-1], l2[j-1]):
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diff changeset
293 self.similarityTable[i,j] = self.similarityTable[i-1,j-1]+1
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diff changeset
294 else:
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295 self.similarityTable[i,j] = max(self.similarityTable[i-1,j], self.similarityTable[i,j-1])
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296
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diff changeset
297 def subSequence(self, i, j):
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298 '''Returns the subsequence of two sequences
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299 http://en.wikipedia.org/wiki/Longest_common_subsequence_problem'''
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300 if i == 0 or j == 0:
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diff changeset
301 return []
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302 elif self.similarityTable[i][j] == self.similarityTable[i][j-1]:
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303 return self.subSequence(i, j-1)
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304 elif self.similarityTable[i][j] == self.similarityTable[i-1][j]:
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305 return self.subSequence(i-1, j)
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306 else:
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307 return self.subSequence(i-1, j-1) + [(i-1,j-1)]
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308
373
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309 def _compute(self, _l1, _l2, computeSubSequence = False):
370
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310 '''returns the longest common subsequence similarity
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311 based on the threshold on distance between two elements of lists l1, l2
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312 similarityFunc returns True or False whether the two points are considered similar
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313
373
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diff changeset
314 if aligned, returns the best matching if using a finite delta by shiftinig the series alignments
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315
370
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316 eg distance(p1, p2) < epsilon
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317 '''
372
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318 if len(_l2) < len(_l1): # l1 is the shortest
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diff changeset
319 l1 = _l2
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diff changeset
320 l2 = _l1
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321 revertIndices = True
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322 else:
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323 l1 = _l1
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324 l2 = _l2
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325 revertIndices = False
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diff changeset
326 n1 = len(l1)
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diff changeset
327 n2 = len(l2)
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diff changeset
328
370
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diff changeset
329 if self.aligned:
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diff changeset
330 lcssValues = {}
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331 similarityTables = {}
374
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diff changeset
332 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
333 self.similarities(l1, l2, i)
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diff changeset
334 lcssValues[i] = self.similarityTable.max()
370
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diff changeset
335 similarityTables[i] = self.similarityTable
374
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diff changeset
336 #print self.similarityTable
389
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diff changeset
337 alignmentShift = argMaxDict(lcssValues) # ideally get the medium alignment shift, the one that minimizes distance
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diff changeset
338 self.similarityTable = similarityTables[alignmentShift]
372
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diff changeset
339 else:
389
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340 alignmentShift = 0
372
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diff changeset
341 self.similarities(l1, l2)
373
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diff changeset
342
374
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343 # threshold values for the useful part of the similarity table are n2-n1-delta and n1-n2-delta
389
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diff changeset
344 self.similarityTable = self.similarityTable[:min(n1, n2+alignmentShift+self.delta)+1, :min(n2, n1-alignmentShift+self.delta)+1]
373
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diff changeset
345
372
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diff changeset
346 if computeSubSequence:
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diff changeset
347 self.subSequenceIndices = self.subSequence(self.similarityTable.shape[0]-1, self.similarityTable.shape[1]-1)
371
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diff changeset
348 if revertIndices:
374
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diff changeset
349 self.subSequenceIndices = [(j,i) for i,j in self.subSequenceIndices]
372
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diff changeset
350 return self.similarityTable[-1,-1]
370
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diff changeset
351
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diff changeset
352 def compute(self, l1, l2, computeSubSequence = False):
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diff changeset
353 '''get methods are to be shadowed in child classes '''
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diff changeset
354 return self._compute(l1, l2, computeSubSequence)
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diff changeset
355
375
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diff changeset
356 def computeAlignment(self):
370
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diff changeset
357 from numpy import mean
374
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diff changeset
358 return mean([j-i for i,j in self.subSequenceIndices])
370
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diff changeset
359
376
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diff changeset
360 def _computeNormalized(self, l1, l2, computeSubSequence = False):
370
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diff changeset
361 ''' compute the normalized LCSS
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diff changeset
362 ie, the LCSS divided by the min or mean of the indicator lengths (using lengthFunc)
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diff changeset
363 lengthFunc = lambda x,y:float(x,y)/2'''
376
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diff changeset
364 return float(self._compute(l1, l2, computeSubSequence))/self.lengthFunc(len(l1), len(l2))
370
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diff changeset
365
376
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diff changeset
366 def computeNormalized(self, l1, l2, computeSubSequence = False):
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diff changeset
367 return self._computeNormalized(l1, l2, computeSubSequence)
370
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diff changeset
368
376
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diff changeset
369 def _computeDistance(self, l1, l2, computeSubSequence = False):
370
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diff changeset
370 ''' compute the LCSS distance'''
376
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diff changeset
371 return 1-self._computeNormalized(l1, l2, computeSubSequence)
370
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diff changeset
372
376
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diff changeset
373 def computeDistance(self, l1, l2, computeSubSequence = False):
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diff changeset
374 return self._computeDistance(l1, l2, computeSubSequence)
370
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diff changeset
375
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diff changeset
376 #########################
45
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diff changeset
377 # plotting section
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diff changeset
378 #########################
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diff changeset
379
332
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diff changeset
380 def plotPolygon(poly, options = ''):
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diff changeset
381 'Plots shapely polygon poly'
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diff changeset
382 from numpy.core.multiarray import array
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diff changeset
383 from matplotlib.pyplot import plot
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diff changeset
384 from shapely.geometry import Polygon
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diff changeset
385
a6ca86107f27 reorganized utils module
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diff changeset
386 tmp = array(poly.exterior)
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diff changeset
387 plot(tmp[:,0], tmp[:,1], options)
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diff changeset
388
324
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diff changeset
389 def stepPlot(X, firstX, lastX, initialCount = 0, increment = 1):
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diff changeset
390 '''for each value in X, increment by increment the initial count
297
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diff changeset
391 returns the lists that can be plotted
324
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diff changeset
392 to obtain a step plot increasing by one for each value in x, from first to last value
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diff changeset
393 firstX and lastX should be respectively smaller and larger than all elements in X'''
297
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diff changeset
394
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diff changeset
395 sortedX = []
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diff changeset
396 counts = [initialCount]
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diff changeset
397 for x in sorted(X):
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diff changeset
398 sortedX += [x,x]
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diff changeset
399 counts.append(counts[-1])
324
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diff changeset
400 counts.append(counts[-1]+increment)
297
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diff changeset
401 counts.append(counts[-1])
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diff changeset
402 return [firstX]+sortedX+[lastX], counts
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parents: 286
diff changeset
403
45
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
404 class PlottingPropertyValues:
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diff changeset
405 def __init__(self, values):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
406 self.values = values
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
407
116
2bf5b76320c0 moved intersection plotting and added markers for scatter plots
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
408 def __getitem__(self, i):
45
74d2de078baf added colors, linestyles and markers to pick from
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parents: 42
diff changeset
409 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
410
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
411 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
412 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
413
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
414 linestyles = PlottingPropertyValues(['-', '--', '-.', ':'])
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
415
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
416 colors = PlottingPropertyValues('brgmyck') # 'w'
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
417
115
550556378466 added functionalities to indicator maps
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parents: 86
diff changeset
418 def plotIndicatorMap(indicatorMap, squareSize, masked = True, defaultValue=-1):
65
75cf537b8d88 moved and generalized map making functions to the library
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parents: 48
diff changeset
419 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
420 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
421 coords = array(indicatorMap.keys())
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
422 minX = min(coords[:,0])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
423 minY = min(coords[:,1])
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parents: 48
diff changeset
424 X = arange(minX, max(coords[:,0])+1.1)*squareSize
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parents: 48
diff changeset
425 Y = arange(minY, max(coords[:,1])+1.1)*squareSize
115
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parents: 86
diff changeset
426 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
427 for k,v in indicatorMap.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
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parents: 48
diff changeset
428 C[k[1]-minY,k[0]-minX] = v
115
550556378466 added functionalities to indicator maps
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parents: 86
diff changeset
429 if masked:
550556378466 added functionalities to indicator maps
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parents: 86
diff changeset
430 pcolor(X, Y, ma.masked_where(C==defaultValue,C))
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parents: 86
diff changeset
431 else:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
432 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
433
45
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parents: 42
diff changeset
434 #########################
27
44689029a86f updated segmentIntersection and other
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parents: 24
diff changeset
435 # file I/O section
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parents: 24
diff changeset
436 #########################
24
6fb59cfb201e first version of segmentIntersection
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parents: 19
diff changeset
437
0
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Nicolas Saunier <nico@confins.net>
parents:
diff changeset
438 def openCheck(filename, option = 'r', quit = False):
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parents:
diff changeset
439 '''Open file filename in read mode by default
31
c000f37c316d moved tests to independent file, added chi2 computation
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parents: 29
diff changeset
440 and checks it is open'''
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
441 try:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
442 return open(filename, option)
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
443 except IOError:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
444 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
445 if quit:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
446 from sys import exit
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
447 exit()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
448 return None
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
449
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
450 def readline(f, commentCharacter = commentChar):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
451 '''Modified readline function to skip comments.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
452 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
453 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
454 s = f.readline()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
455 return s.strip()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
456
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
457 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
458 '''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
459 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
460 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
461 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
462 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
463 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
464 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
465
304
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
466 class FakeSecHead(object):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
467 '''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
468
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
469 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
470 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
471 '''
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
472 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
473 self.fp = fp
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
474 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
475
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
476 def readline(self):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
477 if self.sechead:
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
478 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
479 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
480 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
481
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
482 def removeExtension(filename, delimiter = '.'):
31
c000f37c316d moved tests to independent file, added chi2 computation
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parents: 29
diff changeset
483 '''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
484 i = filename.rfind(delimiter)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
485 if i>0:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
486 return filename[:i]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
487 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
488 return filename
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
489
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
490 def cleanFilename(s):
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
491 'cleans filenames obtained when contatenating figure characteristics'
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
492 return s.replace(' ','-').replace('.','').replace('/','-')
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
493
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
494 def listfiles(dirname, extension, remove = False):
14
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
495 '''Returns the list of files with the extension in the directory dirname
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
496 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
497 from os import listdir
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
498 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
499 tmp.sort()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
500 if remove:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
501 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
502 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
503 return tmp
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
504
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
505 def mkdir(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
506 'Creates a directory if it does not exist'
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
507 import os
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
508 if not os.path.exists(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
509 os.mkdir(dirname)
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
510 else:
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
511 print(dirname+' already exists')
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
512
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
513 def removeFile(filename):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
514 '''Deletes the file while avoiding raising an error
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
515 if the file does not exist'''
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
516 import os
14
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
517 if (os.path.exists(filename)):
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
518 os.remove(filename)
266
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
519 else:
aba9711b3149 small modificatons and reorganization
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parents: 262
diff changeset
520 print(filename+' does not exist')
14
e7bbe8465591 homography and other utils
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parents: 7
diff changeset
521
42
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
522 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
523 '''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
524 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
525
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
526 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
527 '''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
528 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
529
c000f37c316d moved tests to independent file, added chi2 computation
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parents: 29
diff changeset
530 #########################
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
531 # CLI utils
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
532 #########################
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
533
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
534 def parseCLIOptions(helpMessage, options, cliArgs, optionalOptions=[]):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
535 ''' Simple function to handle similar argument parsing
a6ca86107f27 reorganized utils module
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parents: 324
diff changeset
536 Returns the dictionary of options and their values
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
537
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
538 * cliArgs are most likely directly sys.argv
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
539 (only the elements after the first one are considered)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
540
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
541 * options should be a list of strings for getopt options,
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
542 eg ['frame=','correspondences=','video=']
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
543 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
544 import sys, getopt
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
545 from numpy.core.fromnumeric import all
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
546 optionValues, args = getopt.getopt(cliArgs[1:], 'h', ['help']+options+optionalOptions)
a6ca86107f27 reorganized utils module
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parents: 324
diff changeset
547 optionValues = dict(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
548
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
549 if '--help' in optionValues.keys() or '-h' in optionValues.keys():
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
550 print(helpMessage+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
551 '\n - Compulsory options: '+' '.join([opt.replace('=','') for opt in options])+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
552 '\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
553 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
554
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
555 missingArgument = [('--'+opt.replace('=','') in optionValues.keys()) for opt in options]
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
556 if not all(missingArgument):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
557 print('Missing argument')
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
558 print(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
559 sys.exit()
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 return optionValues
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
562
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
563
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
564 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
565 # 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
566 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
567
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
568 class TrackingParameters:
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
569 def loadConfigFile(self, filename):
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
570 from ConfigParser import ConfigParser
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
571 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
572 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
573
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
574 config = ConfigParser()
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
575 config.readfp(FakeSecHead(openCheck(filename)))
c9201f6b143a moved the config parser to utils
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parents: 332
diff changeset
576 self.sectionHeader = config.sections()[0]
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
577 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
578 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
579 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
580 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
581 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
582 else:
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
583 self.homography = None
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
584 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
585 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
586
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
587 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
588 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
589 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
590 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
591 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
592 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
593 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
594 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
595 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
596 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
597
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
598 class SceneParameters:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
599 def __init__(self, config, sectionName):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
600 from ConfigParser import NoOptionError
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
601 from ast import literal_eval
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
602 try:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
603 self.sitename = config.get(sectionName, 'sitename')
405
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
604 self.databaseFilename = config.get(sectionName, 'data-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
605 self.homographyFilename = config.get(sectionName, 'homography-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
606 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
607 self.videoFilename = config.get(sectionName, 'video-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
608 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
609 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
610 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
611 self.rotation = config.getfloat(sectionName, 'rotation')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
612 self.duration = config.getint(sectionName, 'duration')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
613 except NoOptionError as e:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
614 print(e)
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
615 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
616
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
617 @staticmethod
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
618 def loadConfigFile(filename):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
619 from ConfigParser import ConfigParser
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
620 config = ConfigParser()
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
621 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
622 configDict = dict()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
623 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
624 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
625 return configDict
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
626
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
627
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
628 #########################
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
629 # sqlite
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
630 #########################
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
631
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
632 def printDBError(error):
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
633 print('DB Error: {}'.format(error))
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
634
235
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 233
diff changeset
635 def dropTables(connection, tableNames):
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 233
diff changeset
636 'deletes the table with names in tableNames'
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 351
diff changeset
637 import sqlite3
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
638 try:
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
639 cursor = connection.cursor()
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
640 for tableName in tableNames:
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 389
diff changeset
641 cursor.execute('DROP TABLE IF EXISTS '+tableName)
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
642 except sqlite3.OperationalError as error:
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 333
diff changeset
643 printDBError(error)
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
644
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
645 #########################
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
646 # running tests
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
647 #########################
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
648
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
649 if __name__ == "__main__":
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
650 import doctest
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
651 import unittest
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
652 suite = doctest.DocFileSuite('tests/utils.txt')
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
653 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
654 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
655 #doctest.testmod()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
656 #doctest.testfile("example.txt")