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annotate python/utils.py @ 455:abe0b2347d4c

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added most common utility function
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 18 Feb 2014 14:52:49 -0500
parents 9a714f32fc9f
children 825e5d49325d
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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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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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142
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diff changeset
143 return refCounts, refProba
31
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144
77
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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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149 ref = self.referenceCounts
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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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153
31
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diff changeset
154 #########################
370
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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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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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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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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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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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181 def uniform(center, x, halfwidth):
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182 if abs(center-x)<halfwidth:
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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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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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191 def epanechnikov(center, x, halfwidth):
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192 diff = abs(center-x)
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193 if diff<halfwidth:
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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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200 if diff<halfwidth:
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diff changeset
201 return 1.-abs(diff/halfwidth)
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202 else:
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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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diff changeset
207
395
6fba1ab040f1 minor modification to framestotime
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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
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diff changeset
213 h = int(floor(seconds/3600.))
248
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diff changeset
214 seconds = seconds - h*3600
261
4aa792cb0fa9 changing framesToTime to return a datetime.time
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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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diff changeset
218
381
387cc0142211 script to replay event annotations
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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
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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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diff changeset
224 D = {}
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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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diff changeset
227 xsorted = sorted(D.keys())
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diff changeset
228 return xsorted, [D[x] for x in xsorted]
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parents: 235
diff changeset
229
32
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diff changeset
230 def ceilDecimals(v, nDecimals):
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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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diff changeset
234 tens = pow(10,nDecimals)
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diff changeset
235 return ceil(v*tens)/tens
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diff changeset
236
152
74b1fc68d4df re-organized code to avoid cyclic python module dependencies
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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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diff changeset
239
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diff changeset
240 def crossProduct(l1, l2):
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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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diff changeset
244 '''Returns an array obtained after the smoothing of the input by a moving average
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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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diff changeset
247 win = ones(width,'d')
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diff changeset
248 result = convolve(win/width,array(inputSignal),'same')
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diff changeset
249 result[:halfWidth] = inputSignal[:halfWidth]
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diff changeset
250 result[-halfWidth:] = inputSignal[-halfWidth:]
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diff changeset
251 return result
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diff changeset
252
199
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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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diff changeset
258 from numpy.core.multiarray import arange
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diff changeset
259 coef = polyfit(x, y, deg)
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diff changeset
260 if plotData:
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diff changeset
261 def poly(x):
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diff changeset
262 result = 0
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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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diff changeset
265 return result
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diff changeset
266 plot(x, y, 'x')
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diff changeset
267 xx = arange(min(x), max(x),(max(x)-min(x))/1000)
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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
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parents: 24
diff changeset
271 #########################
455
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diff changeset
272 # iterable section
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diff changeset
273 #########################
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diff changeset
274
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diff changeset
275 def mostCommon(L):
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diff changeset
276 '''Returns the most frequent element in a iterable'''
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parents: 434
diff changeset
277 from itertools import groupby
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parents: 434
diff changeset
278 from operator import itemgetter
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diff changeset
279 # get an iterable of (item, iterable) pairs
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diff changeset
280 SL = sorted((x, i) for i, x in enumerate(L))
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diff changeset
281 # print 'SL:', SL
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diff changeset
282 groups = groupby(SL, key=itemgetter(0))
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parents: 434
diff changeset
283 # auxiliary function to get "quality" for an item
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diff changeset
284 def _auxfun(g):
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diff changeset
285 item, iterable = g
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diff changeset
286 count = 0
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diff changeset
287 min_index = len(L)
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diff changeset
288 for _, where in iterable:
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parents: 434
diff changeset
289 count += 1
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diff changeset
290 min_index = min(min_index, where)
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parents: 434
diff changeset
291 # print 'item %r, count %r, minind %r' % (item, count, min_index)
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diff changeset
292 return count, -min_index
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parents: 434
diff changeset
293 # pick the highest-count/earliest item
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diff changeset
294 return max(groups, key=_auxfun)[0]
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diff changeset
295
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parents: 434
diff changeset
296 #########################
370
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diff changeset
297 # sequence section
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diff changeset
298 #########################
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299
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diff changeset
300 class LCSS:
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parents: 369
diff changeset
301 '''Class that keeps the LCSS parameters
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parents: 369
diff changeset
302 and puts together the various computations'''
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diff changeset
303 def __init__(self, similarityFunc, delta = float('inf'), aligned = False, lengthFunc = min):
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diff changeset
304 self.similarityFunc = similarityFunc
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diff changeset
305 self.aligned = aligned
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diff changeset
306 self.delta = delta
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diff changeset
307 self.lengthFunc = lengthFunc
389
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diff changeset
308 self.subSequenceIndices = [(0,0)]
370
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309
373
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diff changeset
310 def similarities(self, l1, l2, jshift=0):
370
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diff changeset
311 from numpy import zeros, int as npint
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312 n1 = len(l1)
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diff changeset
313 n2 = len(l2)
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diff changeset
314 self.similarityTable = zeros((n1+1,n2+1), dtype = npint)
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diff changeset
315 for i in xrange(1,n1+1):
374
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diff changeset
316 for j in xrange(max(1,i-jshift-self.delta),min(n2,i-jshift+self.delta)+1):
370
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parents: 369
diff changeset
317 if self.similarityFunc(l1[i-1], l2[j-1]):
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diff changeset
318 self.similarityTable[i,j] = self.similarityTable[i-1,j-1]+1
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diff changeset
319 else:
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diff changeset
320 self.similarityTable[i,j] = max(self.similarityTable[i-1,j], self.similarityTable[i,j-1])
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diff changeset
321
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diff changeset
322 def subSequence(self, i, j):
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diff changeset
323 '''Returns the subsequence of two sequences
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parents: 369
diff changeset
324 http://en.wikipedia.org/wiki/Longest_common_subsequence_problem'''
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parents: 369
diff changeset
325 if i == 0 or j == 0:
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parents: 369
diff changeset
326 return []
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diff changeset
327 elif self.similarityTable[i][j] == self.similarityTable[i][j-1]:
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parents: 369
diff changeset
328 return self.subSequence(i, j-1)
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parents: 369
diff changeset
329 elif self.similarityTable[i][j] == self.similarityTable[i-1][j]:
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diff changeset
330 return self.subSequence(i-1, j)
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parents: 369
diff changeset
331 else:
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parents: 369
diff changeset
332 return self.subSequence(i-1, j-1) + [(i-1,j-1)]
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parents: 369
diff changeset
333
373
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parents: 372
diff changeset
334 def _compute(self, _l1, _l2, computeSubSequence = False):
370
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parents: 369
diff changeset
335 '''returns the longest common subsequence similarity
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parents: 369
diff changeset
336 based on the threshold on distance between two elements of lists l1, l2
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parents: 369
diff changeset
337 similarityFunc returns True or False whether the two points are considered similar
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parents: 369
diff changeset
338
373
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parents: 372
diff changeset
339 if aligned, returns the best matching if using a finite delta by shiftinig the series alignments
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parents: 372
diff changeset
340
370
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diff changeset
341 eg distance(p1, p2) < epsilon
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parents: 369
diff changeset
342 '''
372
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
343 if len(_l2) < len(_l1): # l1 is the shortest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
344 l1 = _l2
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parents: 371
diff changeset
345 l2 = _l1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
346 revertIndices = True
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parents: 371
diff changeset
347 else:
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parents: 371
diff changeset
348 l1 = _l1
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parents: 371
diff changeset
349 l2 = _l2
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parents: 371
diff changeset
350 revertIndices = False
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parents: 371
diff changeset
351 n1 = len(l1)
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parents: 371
diff changeset
352 n2 = len(l2)
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parents: 371
diff changeset
353
370
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parents: 369
diff changeset
354 if self.aligned:
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parents: 369
diff changeset
355 lcssValues = {}
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parents: 369
diff changeset
356 similarityTables = {}
374
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diff changeset
357 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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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 372
diff changeset
358 self.similarities(l1, l2, i)
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parents: 372
diff changeset
359 lcssValues[i] = self.similarityTable.max()
370
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parents: 369
diff changeset
360 similarityTables[i] = self.similarityTable
374
a7af3519687e finished implementation of aligned LCSS with matching sequence decoded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 373
diff changeset
361 #print self.similarityTable
389
6d26dcc7bba0 modifications to compute alignment for None indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
362 alignmentShift = argMaxDict(lcssValues) # ideally get the medium alignment shift, the one that minimizes distance
6d26dcc7bba0 modifications to compute alignment for None indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
363 self.similarityTable = similarityTables[alignmentShift]
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
364 else:
389
6d26dcc7bba0 modifications to compute alignment for None indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 381
diff changeset
365 alignmentShift = 0
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
366 self.similarities(l1, l2)
373
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parents: 372
diff changeset
367
374
a7af3519687e finished implementation of aligned LCSS with matching sequence decoded
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parents: 373
diff changeset
368 # threshold values for the useful part of the similarity table are n2-n1-delta and n1-n2-delta
389
6d26dcc7bba0 modifications to compute alignment for None indicators
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parents: 381
diff changeset
369 self.similarityTable = self.similarityTable[:min(n1, n2+alignmentShift+self.delta)+1, :min(n2, n1-alignmentShift+self.delta)+1]
373
d0b86ed50f32 work in progress on LCSS
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parents: 372
diff changeset
370
372
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
371 if computeSubSequence:
349eb1e09f45 Cleaned the methods/functions indicating if a point is in a polygon
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
372 self.subSequenceIndices = self.subSequence(self.similarityTable.shape[0]-1, self.similarityTable.shape[1]-1)
371
924e38c9f70e work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 370
diff changeset
373 if revertIndices:
374
a7af3519687e finished implementation of aligned LCSS with matching sequence decoded
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parents: 373
diff changeset
374 self.subSequenceIndices = [(j,i) for i,j in self.subSequenceIndices]
372
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 371
diff changeset
375 return self.similarityTable[-1,-1]
370
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parents: 369
diff changeset
376
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parents: 369
diff changeset
377 def compute(self, l1, l2, computeSubSequence = False):
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parents: 369
diff changeset
378 '''get methods are to be shadowed in child classes '''
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parents: 369
diff changeset
379 return self._compute(l1, l2, computeSubSequence)
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parents: 369
diff changeset
380
375
2ea8584aa80a making indicator LCSS work
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parents: 374
diff changeset
381 def computeAlignment(self):
370
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parents: 369
diff changeset
382 from numpy import mean
374
a7af3519687e finished implementation of aligned LCSS with matching sequence decoded
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parents: 373
diff changeset
383 return mean([j-i for i,j in self.subSequenceIndices])
370
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parents: 369
diff changeset
384
376
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 375
diff changeset
385 def _computeNormalized(self, l1, l2, computeSubSequence = False):
370
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parents: 369
diff changeset
386 ''' compute the normalized LCSS
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parents: 369
diff changeset
387 ie, the LCSS divided by the min or mean of the indicator lengths (using lengthFunc)
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parents: 369
diff changeset
388 lengthFunc = lambda x,y:float(x,y)/2'''
376
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parents: 375
diff changeset
389 return float(self._compute(l1, l2, computeSubSequence))/self.lengthFunc(len(l1), len(l2))
370
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parents: 369
diff changeset
390
376
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parents: 375
diff changeset
391 def computeNormalized(self, l1, l2, computeSubSequence = False):
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parents: 375
diff changeset
392 return self._computeNormalized(l1, l2, computeSubSequence)
370
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parents: 369
diff changeset
393
376
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 375
diff changeset
394 def _computeDistance(self, l1, l2, computeSubSequence = False):
370
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parents: 369
diff changeset
395 ''' compute the LCSS distance'''
376
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parents: 375
diff changeset
396 return 1-self._computeNormalized(l1, l2, computeSubSequence)
370
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parents: 369
diff changeset
397
376
2e6b8610bcaa work on indicator similarity
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 375
diff changeset
398 def computeDistance(self, l1, l2, computeSubSequence = False):
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parents: 375
diff changeset
399 return self._computeDistance(l1, l2, computeSubSequence)
370
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
400
97e8fa0ee9a1 work in progress for complete alignment
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 369
diff changeset
401 #########################
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
402 # plotting section
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
403 #########################
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
404
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
405 def plotPolygon(poly, options = ''):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
406 'Plots shapely polygon poly'
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
407 from numpy.core.multiarray import array
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
408 from matplotlib.pyplot import plot
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
409 from shapely.geometry import Polygon
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
410
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
411 tmp = array(poly.exterior)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
412 plot(tmp[:,0], tmp[:,1], options)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
413
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
414 def stepPlot(X, firstX, lastX, initialCount = 0, increment = 1):
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
415 '''for each value in X, increment by increment the initial count
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
416 returns the lists that can be plotted
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
417 to obtain a step plot increasing by one for each value in x, from first to last value
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
418 firstX and lastX should be respectively smaller and larger than all elements in X'''
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
419
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
420 sortedX = []
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
421 counts = [initialCount]
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
422 for x in sorted(X):
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
423 sortedX += [x,x]
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
424 counts.append(counts[-1])
324
99ca91a46007 minor change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 323
diff changeset
425 counts.append(counts[-1]+increment)
297
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
426 counts.append(counts[-1])
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
427 return [firstX]+sortedX+[lastX], counts
f6f423e25c7f adding function to generate step plots (for cumulative number of vehicles)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 286
diff changeset
428
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
429 class PlottingPropertyValues:
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
430 def __init__(self, values):
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
431 self.values = values
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
432
116
2bf5b76320c0 moved intersection plotting and added markers for scatter plots
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 115
diff changeset
433 def __getitem__(self, i):
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
434 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
435
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
436 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
437 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
438
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
439 linestyles = PlottingPropertyValues(['-', '--', '-.', ':'])
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
440
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
441 colors = PlottingPropertyValues('brgmyck') # 'w'
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
442
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
443 def plotIndicatorMap(indicatorMap, squareSize, masked = True, defaultValue=-1):
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
444 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
445 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
446 coords = array(indicatorMap.keys())
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
447 minX = min(coords[:,0])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
448 minY = min(coords[:,1])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
449 X = arange(minX, max(coords[:,0])+1.1)*squareSize
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
450 Y = arange(minY, max(coords[:,1])+1.1)*squareSize
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
451 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
452 for k,v in indicatorMap.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 48
diff changeset
453 C[k[1]-minY,k[0]-minX] = v
115
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
454 if masked:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
455 pcolor(X, Y, ma.masked_where(C==defaultValue,C))
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
456 else:
550556378466 added functionalities to indicator maps
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 86
diff changeset
457 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
458
45
74d2de078baf added colors, linestyles and markers to pick from
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 42
diff changeset
459 #########################
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 24
diff changeset
460 # file I/O section
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 24
diff changeset
461 #########################
24
6fb59cfb201e first version of segmentIntersection
Nicolas Saunier <nico@confins.net>
parents: 19
diff changeset
462
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
463 def openCheck(filename, option = 'r', quit = False):
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
464 '''Open file filename in read mode by default
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
465 and checks it is open'''
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
466 try:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
467 return open(filename, option)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
468 except IOError:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
469 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
470 if quit:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
471 from sys import exit
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
472 exit()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
473 return None
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
474
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
475 def readline(f, commentCharacter = commentChar):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
476 '''Modified readline function to skip comments.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
477 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
478 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
479 s = f.readline()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
480 return s.strip()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
481
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
482 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
483 '''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
484 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
485 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
486 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
487 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
488 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
489 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
490
304
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
491 class FakeSecHead(object):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
492 '''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
493
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
494 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
495 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
496 '''
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
497 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
498 self.fp = fp
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
499 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
500
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
501 def readline(self):
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
502 if self.sechead:
20f9cd972dde added capability to parse cfg file for display-trajectories.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 301
diff changeset
503 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
504 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
505 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
506
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
507 def removeExtension(filename, delimiter = '.'):
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
508 '''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
509 i = filename.rfind(delimiter)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
510 if i>0:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
511 return filename[:i]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
512 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
513 return filename
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
514
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
515 def cleanFilename(s):
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
516 'cleans filenames obtained when contatenating figure characteristics'
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
517 return s.replace(' ','-').replace('.','').replace('/','-')
46
b5d007612e16 added filename util
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 45
diff changeset
518
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
519 def listfiles(dirname, extension, remove = False):
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
520 '''Returns the list of files with the extension in the directory dirname
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
521 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
522 from os import listdir
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
523 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
524 tmp.sort()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
525 if remove:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
526 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
527 else:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
528 return tmp
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
529
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
530 def mkdir(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
531 'Creates a directory if it does not exist'
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
532 import os
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
533 if not os.path.exists(dirname):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
534 os.mkdir(dirname)
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
535 else:
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
536 print(dirname+' already exists')
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
537
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
538 def removeFile(filename):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
539 '''Deletes the file while avoiding raising an error
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
540 if the file does not exist'''
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
541 import os
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
542 if (os.path.exists(filename)):
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
543 os.remove(filename)
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
544 else:
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 262
diff changeset
545 print(filename+' does not exist')
14
e7bbe8465591 homography and other utils
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
546
42
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
547 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
548 '''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
549 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
550
1a2ac2d4f53a added loading of the rest of the data for objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 35
diff changeset
551 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
552 '''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
553 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
554
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
555 #########################
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
556 # CLI utils
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
557 #########################
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
558
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
559 def parseCLIOptions(helpMessage, options, cliArgs, optionalOptions=[]):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
560 ''' Simple function to handle similar argument parsing
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
561 Returns the dictionary of options and their values
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
562
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
563 * cliArgs are most likely directly sys.argv
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
564 (only the elements after the first one are considered)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
565
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
566 * options should be a list of strings for getopt options,
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
567 eg ['frame=','correspondences=','video=']
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
568 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
569 import sys, getopt
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
570 from numpy.core.fromnumeric import all
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
571 optionValues, args = getopt.getopt(cliArgs[1:], 'h', ['help']+options+optionalOptions)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
572 optionValues = dict(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
573
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
574 if '--help' in optionValues.keys() or '-h' in optionValues.keys():
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
575 print(helpMessage+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
576 '\n - Compulsory options: '+' '.join([opt.replace('=','') for opt in options])+
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
577 '\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
578 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
579
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
580 missingArgument = [('--'+opt.replace('=','') in optionValues.keys()) for opt in options]
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
581 if not all(missingArgument):
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
582 print('Missing argument')
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
583 print(optionValues)
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
584 sys.exit()
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
585
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
586 return optionValues
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
587
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
588
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
589 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
590 # 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
591 #########################
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
592
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
593 class TrackingParameters:
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
594 def loadConfigFile(self, filename):
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
595 from ConfigParser import ConfigParser
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
596 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
597 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
598
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
599 config = ConfigParser()
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
600 config.readfp(FakeSecHead(openCheck(filename)))
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
601 self.sectionHeader = config.sections()[0]
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
602 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
603 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
604 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
605 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
606 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
607 else:
a50a69e04c2a script modification so that command line arguments take precedence over config file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 352
diff changeset
608 self.homography = None
333
c9201f6b143a moved the config parser to utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 332
diff changeset
609 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
610 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
611
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 348
diff changeset
612 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
613 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
614 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
615 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
616 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
617 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
618 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
619 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
620 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
621 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
622
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
623 class SceneParameters:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
624 def __init__(self, config, sectionName):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
625 from ConfigParser import NoOptionError
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
626 from ast import literal_eval
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
627 try:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
628 self.sitename = config.get(sectionName, 'sitename')
405
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
629 self.databaseFilename = config.get(sectionName, 'data-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
630 self.homographyFilename = config.get(sectionName, 'homography-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
631 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
632 self.videoFilename = config.get(sectionName, 'video-filename')
a9e275b4ecb7 modification of the scene.cfg format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 398
diff changeset
633 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
634 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
635 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
636 self.rotation = config.getfloat(sectionName, 'rotation')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
637 self.duration = config.getint(sectionName, 'duration')
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
638 except NoOptionError as e:
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
639 print(e)
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
640 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
641
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
642 @staticmethod
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
643 def loadConfigFile(filename):
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
644 from ConfigParser import ConfigParser
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
645 config = ConfigParser()
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
646 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
647 configDict = dict()
3399bd48cb40 Ajout d'une méthode pour obtenir le nombre de FPS
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 397
diff changeset
648 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
649 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
650 return configDict
397
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
651
b36b00dd27c3 added function to read scene metadata
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 395
diff changeset
652
332
a6ca86107f27 reorganized utils module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 324
diff changeset
653 #########################
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
654 # sqlite
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
655 #########################
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
656
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
657 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
658 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
659
235
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 233
diff changeset
660 def dropTables(connection, tableNames):
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 233
diff changeset
661 '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
662 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
663 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
664 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
665 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
666 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
667 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
668 printDBError(error)
233
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
669
ab1a11176d7b initial sqlite code and bug corrected in cvutils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 199
diff changeset
670 #########################
31
c000f37c316d moved tests to independent file, added chi2 computation
Nicolas Saunier <nico@confins.net>
parents: 29
diff changeset
671 # running tests
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672 #########################
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673
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674 if __name__ == "__main__":
aed8eb63cdde initial commit with non-functional python code for NGSIM
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675 import doctest
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676 import unittest
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677 suite = doctest.DocFileSuite('tests/utils.txt')
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678 #suite = doctest.DocTestSuite()
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679 unittest.TextTestRunner().run(suite)
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680 #doctest.testmod()
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681 #doctest.testfile("example.txt")