Mercurial Hosting > traffic-intelligence
annotate trafficintelligence/ubc_utils.py @ 1234:dd969637381e
work on tracker interface
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 14 Sep 2023 16:18:36 -0400 |
parents | e23828659a66 |
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rev | line source |
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minimal code to load UBC data
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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 |
1101 | 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 |
1101 | 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 |
1101 | 66 lines = utils.getLines(infile) |
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68 while lines != []: |
53 | 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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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 |
1101 | 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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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 |
1101 | 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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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 |
1101 | 128 f = utils.openCheck(filename) |
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) |
1101 | 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 |
1101 | 165 lines = utils.getLines(f) |
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166 |
1101 | 167 f.close() |
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168 return objects |
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169 |
111
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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' |
1101 | 178 f = utils.openCheck(filename) |
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 |
1101 | 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(' ')] |
1101 | 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 |
1101 | 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 |
1101 | 199 lines = utils.getLines(f) |
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200 |
1101 | 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''' |
1101 | 207 f = utils.openCheck(filename) |
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 |
1101 | 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 |
1101 | 221 lines = utils.getLines(f) |
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222 |
1101 | 223 f.close() |
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224 return points |