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initial commit with non-functional python code for NGSIM
author Nicolas Saunier <nico@confins.net>
date Sun, 18 Oct 2009 22:29:24 -0400
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children ffddccfab7f9
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aed8eb63cdde initial commit with non-functional python code for NGSIM
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1 #! /usr/bin/env python
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2 '''Various utilities to save and load data'''
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3
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4 import utils;
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5
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6 __metaclass__ = type
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12 def loadNgsimFile(filename, nObjects = -1, sequenceNum = -1):
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13 '''Reads data from the trajectory data provided by NGSIM project
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14 and returns the list of Feature objects'''
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15 features = []
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16
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17 input = utils.open(filename)
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18 if not input:
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19 import sys
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20 sys.exit()
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21
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22 def createFeature(numbers):
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23 firstFrameNum = int(numbers[1])
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24 lastFrameNum = firstFrameNum+int(numbers[2])-1
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25 f = Feature(sequenceNum, firstFrameNum, lastFrameNum, int(numbers[0]))
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26 f.sizeLength = float(numbers[8])
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27 f.sizeWidth = float(numbers[9])
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28 f.userType = int(numbers[10])
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29 f.positions = [[float(numbers[6])],[float(numbers[7])]]
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30 f.speeds = [float(numbers[11])]
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31 return f
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32
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33 numbers = input.readline().strip().split()
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34 if (len(numbers) > 0):
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35 f = createFeature(numbers)
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36
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37 for line in input:
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38 numbers = line.strip().split()
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39 if f.num != int(numbers[0]):
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40 # check and adapt the length to deal with issues in NGSIM data
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41 objLength = f.length()
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42 if (objLength != len(f.positions[0])):
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43 print 'length pb with object %s (%d,%d)' % (f.num,objLength,len(f.positions[0]))
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44 f.lastFrameNum = f.getFirstFrameNum()+len(f.positions[0])-1
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45 f.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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46 features.append(f)
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47 if (nObjects>0) and (len(features)>=nObjects):
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48 break
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49 f = createFeature(numbers)
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50 else:
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51 f.positions[0] += [float(numbers[6])]
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52 f.positions[1] += [float(numbers[7])]
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53 f.speeds += [float(numbers[11])]
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54 # if (f.sizeWidth != float(numbers[9])):
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55 # print 'changed width obj %d' % (f.num)
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56 # if (f.sizeLength != float(numbers[8])):
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57 # print 'changed length obj %d' % (f.num)
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58
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59 input.close()
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60 return features
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61
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62 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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63 '''Reads data from the trajectory data provided by NGSIM project
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64 and converts to our current format.'''
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65 if append:
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66 out = open(outFile,'a')
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67 else:
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68 out = open(outFile,'w')
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69 nObjectsPerType = [0,0,0]
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70
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71 features = loadNgsimFile(inFile, sequenceNum)
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72 for f in features:
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73 nObjectsPerType[f.userType-1] += 1
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74 f.write(out)
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75
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76 print nObjectsPerType
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77
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78 out.close()
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79
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80 # other functions
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81 def getLines(f):
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82 '''Gets a complete entry (all the lines) in between delimiterChar.'''
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83 dataStrings = []
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84 s = utils.myreadline(f)
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85 while (len(s) > 0) and (not s.startswith(delimiterChar)):
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86 dataStrings += [s.strip()]
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87 s = utils.myreadline(f)
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88 return dataStrings
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89
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92
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93 if __name__ == "__main__":
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94 import doctest
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95 import unittest
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96 suite = doctest.DocFileSuite('tests/ubc_utils.txt')
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97 unittest.TextTestRunner().run(suite)
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98 #doctest.testmod()
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99 #doctest.testfile("example.txt")