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annotate python/ubc_utils.py @ 57:b8b3768f8d54

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added functions to load interactions and indicators
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 29 Oct 2010 01:53:38 -0400
parents 0a5bdbf0d1b4
children a8c6d544f015
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1 #! /usr/bin/env python
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2 '''Various utilities to load data saved by the UBC tool(s)'''
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3
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4 import utils
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5 from moving import MovingObject, TimeInterval, Trajectory
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6
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7 __metaclass__ = type
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8
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9 userTypeNames = ['car',
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10 'pedestrian',
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11 'twowheels',
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12 'bus'
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13 'truck']
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14
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15 fileTypeNames = ['feature',
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16 'object',
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17 'prototype',
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18 'contoursequence']
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19
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20 severityIndicatorNames = ['Distance',
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21 'Cosine',
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22 'Velocity Cosine',
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23 'Speed Differential',
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24 'Collision Probability',
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25 'Severity Index',
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26 'TTC']
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27
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28 # severityIndicator = {'Distance': 0,
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29 # 'Cosine': 1,
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30 # 'Velocity Cosine': 2,
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31 # 'Speed Differential': 3,
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32 # 'Collision Probability': 4,
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33 # 'Severity Index': 5,
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34 # 'TTC': 6}
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35
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36 mostSevereIsMax = [False,
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37 False,
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38 True,
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39 True,
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40 True,
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41 True,
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42 False]
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43
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44 ignoredValue = [None, None, None, None, None, None, -1]
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45
47
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46 def getFileType(s):
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47 'Finds the type in fileTypeNames'
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48 for fileType in fileTypeNames:
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49 if s.find(fileType)>0:
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50 return fileType
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51 return ''
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52
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53 def isFileType(s, fileType):
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54 return (s.find(fileType)>0)
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55
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56 def saveTrajectoryUserTypes(inFilename, outFilename, objects):
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57 '''The program saves the objects,
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58 by just copying the corresponding trajectory and velocity data
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59 from the inFilename, and saving the characteristics in objects (first line)
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60 into outFilename'''
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61 infile = utils.openCheck(inFilename)
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62 outfile = utils.openCheck(outFilename,'w')
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63
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64 if (inFilename.find('features') >= 0) or (not infile) or (not outfile):
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65 return
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66
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67 lines = utils.getLines(infile)
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68 objNum = 0 # in inFilename
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69 while lines != []:
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70 # find object in objects (index i)
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71 i = 0
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72 while (i<len(objects)) and (objects[i].num != objNum):
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73 i+=1
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74
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75 if i<len(objects):
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76 l = lines[0].split(' ')
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77 l[3] = str(objects[i].userType)
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78 outfile.write(' '.join(l)+'\n')
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79 for l in lines[1:]:
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80 outfile.write(l+'\n')
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81 outfile.write(utils.delimiterChar+'\n')
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82 # next object
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83 objNum += 1
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84 lines = utils.getLines(infile)
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85
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86 print('read {0} objects'.format(objNum))
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87
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88 def loadTrajectories(filename, nObjects = -1):
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89 '''Loads trajectories'''
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90
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91 file = utils.openCheck(filename)
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92 if (not file):
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93 return []
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94
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95 objects = []
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96 objNum = 0
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97 objectType = getFileType(filename)
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98 lines = utils.getLines(file)
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99 while (lines != []) and ((nObjects<0) or (objNum<nObjects)):
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100 l = lines[0].split(' ')
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101 parsedLine = [int(n) for n in l[:4]]
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102 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2]))
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103 #add = True
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104 if len(lines) >= 3:
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105 obj.positions = Trajectory.load(lines[1], lines[2])
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106 if len(lines) >= 5:
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107 obj.velocities = Trajectory.load(lines[3], lines[4])
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108 if objectType == 'object':
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109 obj.userType = parsedLine[3]
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110 obj.nObjects = float(l[4])
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111 obj.featureNumbers = [int(n) for n in l[5:]]
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112
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113 # load contour data if available
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114 if len(lines) >= 6:
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115 obj.contourType = utils.line2Floats(lines[6])
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116 obj.contourOrigins = Trajectory.load(lines[7], lines[8])
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117 obj.contourSizes = Trajectory.load(lines[9], lines[10])
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118 elif objectType == 'prototype':
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119 obj.userType = parsedLine[3]
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120 obj.nMatchings = int(l[4])
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121
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122 if len(lines) != 2:
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123 objects.append(obj)
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124 objNum+=1
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125 else:
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126 print("Error two lines of data for feature %d"%(f.num))
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127
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128 lines = utils.getLines(file)
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129
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130 file.close()
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131 return objects
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132
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133 def loadInteractions(filename, nInteractions = -1):
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134 'Loads interactions from the old UBC traffic event format'
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135 from event import Interaction
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136 from moving import SeverityIndicator
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137 file = utils.openCheck(filename)
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138 if (not file):
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139 return []
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140
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141 interactions = []
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142 interactionNum = 0
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143 lines = utils.getLines(file)
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144 while (lines != []) and ((nInteractions<0) or (interactionNum<nInteractions)):
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145 parsedLine = [int(n) for n in lines[0].split(' ')]
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146 inter = Interaction(interactionNum, TimeInterval(parsedLine[1],parsedLine[2]), parsedLine[3], parsedLine[4], parsedLine[5])
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147
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148 indicatorFrameNums = [int(n) for n in lines[1].split(' ')]
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149 indicators = []
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150 for indicatorNum,line in enumerate(lines[2:]):
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151 values = {}
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152 for i,v in enumerate([float(n) for n in line.split(' ')]):
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153 values[indicatorFrameNums[i]] = v
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154 indicators.append(SeverityIndicator(severityIndicatorNames[indicatorNum], values, mostSevereIsMax[indicatorNum], ignoredValue[indicatorNum]))
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155 inter.indicators = indicators
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156
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157 interactions.append(inter)
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158 interactionNum+=1
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159 lines = utils.getLines(file)
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160
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161 file.close()
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162 return interactions
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163
44
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164 def loadCollisionPoints(filename, nPoints = -1):
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165 '''Loads collision points and returns a dict
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166 with keys as a pair of the numbers of the two interacting objects'''
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167 file = utils.openCheck(filename)
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168 if (not file):
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169 return []
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170
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171 points = {}
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172 num = 0
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173 lines = utils.getLines(file)
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174 while (lines != []) and ((nPoints<0) or (num<nPoints)):
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175 parsedLine = [int(n) for n in lines[0].split(' ')]
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176 protagonistNums = (parsedLine[0], parsedLine[1])
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177 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')],
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178 [float(n) for n in lines[2].split(' ')]]
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179
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180 num+=1
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181 lines = utils.getLines(file)
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182
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183 file.close()
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184 return points