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annotate trafficintelligence/ubc_utils.py @ 1212:af329f3330ba

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work in progress on 3D safety analysis
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 02 May 2023 17:11:24 -0400
parents e23828659a66
children
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1 #! /usr/bin/env python
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2 '''Various utilities to load data saved by the UBC tool(s)'''
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3
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4 from trafficintelligence import utils, events, storage, indicators
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5 from trafficintelligence.moving import MovingObject, TimeInterval, Trajectory
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6
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7
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8 fileTypeNames = ['feature',
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9 'object',
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10 'prototype',
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11 'contoursequence']
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12
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13 severityIndicatorNames = ['Distance',
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14 'Collision Course Cosine',
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15 'Velocity Cosine',
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16 'Speed Differential',
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17 'Collision Probability',
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18 'Severity Index',
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19 'Time to Collision']
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20
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21 userTypeNames = ['car',
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22 'pedestrian',
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23 'twowheels',
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24 'bus',
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25 'truck']
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26
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27 # severityIndicator = {'Distance': 0,
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28 # 'Cosine': 1,
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29 # 'Velocity Cosine': 2,
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30 # 'Speed Differential': 3,
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31 # 'Collision Probability': 4,
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32 # 'Severity Index': 5,
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33 # 'TTC': 6}
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34
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35 mostSevereIsMax = [False,
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36 False,
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37 True,
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38 True,
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39 True,
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40 True,
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41 False]
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42
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43 ignoredValue = [None, None, None, None, None, None, -1]
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44
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45 def getFileType(s):
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46 'Finds the type in fileTypeNames'
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47 for fileType in fileTypeNames:
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48 if s.find(fileType)>0:
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49 return fileType
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50 return ''
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51
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52 def isFileType(s, fileType):
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53 return (s.find(fileType)>0)
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54
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55 def saveTrajectoryUserTypes(inFilename, outFilename, objects):
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56 '''The program saves the objects,
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57 by just copying the corresponding trajectory and velocity data
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58 from the inFilename, and saving the characteristics in objects (first line)
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59 into outFilename'''
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60 infile = utils.openCheck(inFilename)
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61 outfile = utils.openCheck(outFilename,'w')
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62
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63 if (inFilename.find('features') >= 0) or infile is None or outfile is None:
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64 return
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65
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66 lines = utils.getLines(infile)
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67 objNum = 0 # in inFilename
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68 while lines != []:
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69 # find object in objects (index i)
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70 i = 0
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71 while (i<len(objects)) and (objects[i].num != objNum):
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72 i+=1
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74 if i<len(objects):
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75 l = lines[0].split(' ')
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76 l[3] = str(objects[i].userType)
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77 outfile.write(' '.join(l)+'\n')
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78 for l in lines[1:]:
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79 outfile.write(l+'\n')
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80 outfile.write(utils.delimiterChar+'\n')
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81 # next object
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82 objNum += 1
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83 lines = utils.getLines(infile)
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84
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85 print('read {0} objects'.format(objNum))
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86
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87 def modifyTrajectoryFile(modifyLines, filenameIn, filenameOut):
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88 '''Reads filenameIn, replaces the lines with the result of modifyLines and writes the result in filenameOut'''
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89 fileIn = utils.openCheck(filenameIn, 'r', True)
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90 fileOut = utils.openCheck(filenameOut, "w", True)
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91
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92 lines = utils.getLines(fileIn)
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93 trajNum = 0
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94 while (lines != []):
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95 modifiedLines = modifyLines(trajNum, lines)
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96 if modifiedLines:
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97 for l in modifiedLines:
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98 fileOut.write(l+"\n")
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99 fileOut.write(utils.delimiterChar+"\n")
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100 lines = utils.getLines(fileIn)
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101 trajNum += 1
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102
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103 fileIn.close()
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104 fileOut.close()
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105
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106 def copyTrajectoryFile(keepTrajectory, filenameIn, filenameOut):
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107 '''Reads filenameIn, keeps the trajectories for which the function keepTrajectory(trajNum, lines) is True
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108 and writes the result in filenameOut'''
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109 fileIn = utils.openCheck(filenameIn, 'r', True)
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110 fileOut = utils.openCheck(filenameOut, "w", True)
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111
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112 lines = utils.getLines(fileIn)
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113 trajNum = 0
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114 while (lines != []):
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115 if keepTrajectory(trajNum, lines):
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116 for l in lines:
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117 fileOut.write(l+"\n")
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118 fileOut.write(utils.delimiterChar+"\n")
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119 lines = utils.getLines(fileIn)
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120 trajNum += 1
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121
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122 fileIn.close()
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123 fileOut.close()
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124
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125 def loadTrajectories(filename, nObjects = -1):
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126 '''Loads trajectories'''
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127
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128 f = utils.openCheck(filename)
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129 if f is None:
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130 return []
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131
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132 objects = []
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133 objNum = 0
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134 objectType = getFileType(filename)
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135 lines = utils.getLines(f)
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136 while (lines != []) and ((nObjects<0) or (objNum<nObjects)):
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137 l = lines[0].split(' ')
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138 parsedLine = [int(n) for n in l[:4]]
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139 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2]))
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140 #add = True
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141 if len(lines) >= 3:
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142 obj.positions = Trajectory.load(lines[1], lines[2])
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143 if len(lines) >= 5:
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144 obj.velocities = Trajectory.load(lines[3], lines[4])
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145 if objectType == 'object':
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146 obj.userType = parsedLine[3]
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147 obj.nObjects = float(l[4])
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148 obj.featureNumbers = [int(n) for n in l[5:]]
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149
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150 # load contour data if available
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151 if len(lines) >= 6:
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152 obj.contourType = utils.line2Floats(lines[6])
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153 obj.contourOrigins = Trajectory.load(lines[7], lines[8])
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154 obj.contourSizes = Trajectory.load(lines[9], lines[10])
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155 elif objectType == 'prototype':
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156 obj.userType = parsedLine[3]
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157 obj.nMatchings = int(l[4])
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158
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159 if len(lines) != 2:
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160 objects.append(obj)
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161 objNum+=1
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162 else:
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163 print("Error two lines of data for feature {}".format(f.num))
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164
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165 lines = utils.getLines(f)
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166
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167 f.close()
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168 return objects
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169
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170 def getFeatureNumbers(objects):
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171 featureNumbers=[]
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172 for o in objects:
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173 featureNumbers += o.featureNumbers
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174 return featureNumbers
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175
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176 def loadInteractions(filename, nInteractions = -1):
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177 'Loads interactions from the old UBC traffic event format'
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178 f = utils.openCheck(filename)
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179 if f is None:
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180 return []
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181
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182 interactions = []
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183 interactionNum = 0
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184 lines = utils.getLines(f)
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185 while (lines != []) and ((nInteractions<0) or (interactionNum<nInteractions)):
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186 parsedLine = [int(n) for n in lines[0].split(' ')]
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187 inter = events.Interaction(interactionNum, TimeInterval(parsedLine[1],parsedLine[2]), parsedLine[3], parsedLine[4], categoryNum = parsedLine[5])
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188
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189 indicatorFrameNums = [int(n) for n in lines[1].split(' ')]
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190 for indicatorNum,line in enumerate(lines[2:]):
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191 values = {}
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192 for i,v in enumerate([float(n) for n in line.split(' ')]):
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193 if not ignoredValue[indicatorNum] or v != ignoredValue[indicatorNum]:
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194 values[indicatorFrameNums[i]] = v
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195 inter.addIndicator(indicators.SeverityIndicator(severityIndicatorNames[indicatorNum], values, None, mostSevereIsMax[indicatorNum]))
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196
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197 interactions.append(inter)
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198 interactionNum+=1
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199 lines = utils.getLines(f)
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200
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201 f.close()
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202 return interactions
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203
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204 def loadCollisionPoints(filename, nPoints = -1):
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205 '''Loads collision points and returns a dict
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206 with keys as a pair of the numbers of the two interacting objects'''
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207 f = utils.openCheck(filename)
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208 if f is None:
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209 return []
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210
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211 points = {}
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212 num = 0
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213 lines = utils.getLines(f)
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214 while (lines != []) and ((nPoints<0) or (num<nPoints)):
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215 parsedLine = [int(n) for n in lines[0].split(' ')]
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216 protagonistNums = (parsedLine[0], parsedLine[1])
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217 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')],
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218 [float(n) for n in lines[2].split(' ')]]
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219
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220 num+=1
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221 lines = utils.getLines(f)
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222
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223 f.close()
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224 return points