Mercurial Hosting > traffic-intelligence
annotate python/ubc_utils.py @ 117:fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 09 Aug 2011 15:10:31 -0400 |
parents | 48e3de4acb65 |
children | 41a5853ec495 |
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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 |
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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 fileTypeNames = ['feature', |
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10 'object', |
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11 'prototype', |
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12 'contoursequence'] |
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13 |
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14 severityIndicatorNames = ['Distance', |
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15 'Cosine', |
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16 'Velocity Cosine', |
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17 'Speed Differential', |
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18 'Collision Probability', |
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19 'Severity Index', |
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20 'TTC'] |
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21 |
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22 # severityIndicator = {'Distance': 0, |
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23 # 'Cosine': 1, |
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24 # 'Velocity Cosine': 2, |
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25 # 'Speed Differential': 3, |
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26 # 'Collision Probability': 4, |
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27 # 'Severity Index': 5, |
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28 # 'TTC': 6} |
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29 |
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30 mostSevereIsMax = [False, |
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31 False, |
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32 True, |
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33 True, |
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34 True, |
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35 True, |
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36 False] |
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37 |
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38 ignoredValue = [None, None, None, None, None, None, -1] |
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39 |
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40 def getFileType(s): |
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41 'Finds the type in fileTypeNames' |
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42 for fileType in fileTypeNames: |
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43 if s.find(fileType)>0: |
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44 return fileType |
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45 return '' |
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46 |
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47 def isFileType(s, fileType): |
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48 return (s.find(fileType)>0) |
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49 |
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50 def saveTrajectoryUserTypes(inFilename, outFilename, objects): |
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51 '''The program saves the objects, |
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52 by just copying the corresponding trajectory and velocity data |
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53 from the inFilename, and saving the characteristics in objects (first line) |
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54 into outFilename''' |
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55 infile = utils.openCheck(inFilename) |
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56 outfile = utils.openCheck(outFilename,'w') |
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57 |
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58 if (inFilename.find('features') >= 0) or (not infile) or (not outfile): |
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59 return |
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60 |
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61 lines = utils.getLines(infile) |
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63 while lines != []: |
53 | 64 # find object in objects (index i) |
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65 i = 0 |
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66 while (i<len(objects)) and (objects[i].num != objNum): |
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67 i+=1 |
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69 if i<len(objects): |
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70 l = lines[0].split(' ') |
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71 l[3] = str(objects[i].userType) |
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72 outfile.write(' '.join(l)+'\n') |
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73 for l in lines[1:]: |
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74 outfile.write(l+'\n') |
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75 outfile.write(utils.delimiterChar+'\n') |
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76 # next object |
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77 objNum += 1 |
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78 lines = utils.getLines(infile) |
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79 |
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80 print('read {0} objects'.format(objNum)) |
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81 |
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82 def modifyTrajectoryFile(modifyLines, filenameIn, filenameOut): |
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83 '''Reads filenameIn, replaces the first line with the result of modifyLines and writes the result in filenameOut''' |
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84 #sortByNum(objects) |
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85 fileIn = utils.openCheck(filenameIn, 'r', True) |
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86 fileOut = utils.openCheck(filenameOut, "w", True) |
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87 |
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88 lines = utils.getLines(fileIn) |
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89 trajNum = 0 |
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90 while (lines != []): |
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91 modifiedLines = modifyLines(trajNum, lines) |
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92 if modifiedLines: |
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93 for l in modifiedLines: |
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94 fileOut.write(l+"\n") |
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95 fileOut.write(utils.delimiterChar+"\n") |
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96 lines = utils.getLines(fileIn) |
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97 trajNum += 1 |
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98 |
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99 fileIn.close() |
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100 fileOut.close() |
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101 |
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102 def copyTrajectoryFile(keepTrajectory, filenameIn, filenameOut): |
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103 '''Reads filenameIn, keeps the trajectories for which the function keepTrajectory(trajNum, lines) is True |
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104 and writes the result in filenameOut''' |
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105 fileIn = utils.openCheck(filenameIn, 'r', True) |
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106 fileOut = utils.openCheck(filenameOut, "w", True) |
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107 |
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108 lines = utils.getLines(fileIn) |
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109 trajNum = 0 |
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110 while (lines != []): |
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111 if keepTrajectory(trajNum, lines): |
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112 for l in lines: |
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113 fileOut.write(l+"\n") |
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114 fileOut.write(utils.delimiterChar+"\n") |
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115 lines = utils.getLines(fileIn) |
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116 trajNum += 1 |
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117 |
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118 fileIn.close() |
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119 fileOut.close() |
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120 |
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121 def loadTrajectories(filename, nObjects = -1): |
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122 '''Loads trajectories''' |
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123 |
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124 file = utils.openCheck(filename) |
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125 if (not file): |
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126 return [] |
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127 |
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128 objects = [] |
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129 objNum = 0 |
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130 objectType = getFileType(filename) |
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131 lines = utils.getLines(file) |
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132 while (lines != []) and ((nObjects<0) or (objNum<nObjects)): |
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133 l = lines[0].split(' ') |
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134 parsedLine = [int(n) for n in l[:4]] |
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135 obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2])) |
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136 #add = True |
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137 if len(lines) >= 3: |
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138 obj.positions = Trajectory.load(lines[1], lines[2]) |
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139 if len(lines) >= 5: |
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140 obj.velocities = Trajectory.load(lines[3], lines[4]) |
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141 if objectType == 'object': |
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142 obj.userType = parsedLine[3] |
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143 obj.nObjects = float(l[4]) |
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144 obj.featureNumbers = [int(n) for n in l[5:]] |
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145 |
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146 # load contour data if available |
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147 if len(lines) >= 6: |
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148 obj.contourType = utils.line2Floats(lines[6]) |
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149 obj.contourOrigins = Trajectory.load(lines[7], lines[8]) |
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150 obj.contourSizes = Trajectory.load(lines[9], lines[10]) |
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151 elif objectType == 'prototype': |
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152 obj.userType = parsedLine[3] |
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153 obj.nMatchings = int(l[4]) |
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154 |
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155 if len(lines) != 2: |
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156 objects.append(obj) |
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157 objNum+=1 |
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158 else: |
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159 print("Error two lines of data for feature %d"%(f.num)) |
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160 |
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161 lines = utils.getLines(file) |
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162 |
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163 file.close() |
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164 return objects |
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165 |
111
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166 def getFeatureNumbers(objects): |
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167 featureNumbers=[] |
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168 for o in objects: |
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169 featureNumbers += o.featureNumbers |
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170 return featureNumbers |
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171 |
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172 def loadInteractions(filename, nInteractions = -1): |
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173 'Loads interactions from the old UBC traffic event format' |
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174 from event import Interaction |
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175 from moving import SeverityIndicator |
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176 file = utils.openCheck(filename) |
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177 if (not file): |
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178 return [] |
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179 |
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180 interactions = [] |
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181 interactionNum = 0 |
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182 lines = utils.getLines(file) |
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183 while (lines != []) and ((nInteractions<0) or (interactionNum<nInteractions)): |
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184 parsedLine = [int(n) for n in lines[0].split(' ')] |
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185 inter = Interaction(interactionNum, TimeInterval(parsedLine[1],parsedLine[2]), parsedLine[3], parsedLine[4], categoryNum = parsedLine[5]) |
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186 |
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187 indicatorFrameNums = [int(n) for n in lines[1].split(' ')] |
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188 inter.indicators = [] |
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189 for indicatorNum,line in enumerate(lines[2:]): |
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190 values = {} |
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191 for i,v in enumerate([float(n) for n in line.split(' ')]): |
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192 values[indicatorFrameNums[i]] = v |
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193 inter.indicators.append(SeverityIndicator(severityIndicatorNames[indicatorNum], values, None, mostSevereIsMax[indicatorNum], ignoredValue[indicatorNum])) |
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194 |
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195 interactions.append(inter) |
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196 interactionNum+=1 |
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197 lines = utils.getLines(file) |
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198 |
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199 file.close() |
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200 return interactions |
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201 |
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202 def loadCollisionPoints(filename, nPoints = -1): |
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203 '''Loads collision points and returns a dict |
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204 with keys as a pair of the numbers of the two interacting objects''' |
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205 file = utils.openCheck(filename) |
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206 if (not file): |
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207 return [] |
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208 |
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209 points = {} |
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210 num = 0 |
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211 lines = utils.getLines(file) |
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212 while (lines != []) and ((nPoints<0) or (num<nPoints)): |
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213 parsedLine = [int(n) for n in lines[0].split(' ')] |
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214 protagonistNums = (parsedLine[0], parsedLine[1]) |
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215 points[protagonistNums] = [[float(n) for n in lines[1].split(' ')], |
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216 [float(n) for n in lines[2].split(' ')]] |
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217 |
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218 num+=1 |
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219 lines = utils.getLines(file) |
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220 |
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221 file.close() |
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222 return points |