Mercurial Hosting > traffic-intelligence
view python/ubc_utils.py @ 267:32e88b513f5c
added code to compute probability of collision
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 27 Jul 2012 20:32:14 -0400 |
parents | 41a5853ec495 |
children | ea2a8e8e4e77 |
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#! /usr/bin/env python '''Various utilities to load data saved by the UBC tool(s)''' import utils from moving import MovingObject, TimeInterval, Trajectory __metaclass__ = type fileTypeNames = ['feature', 'object', 'prototype', 'contoursequence'] severityIndicatorNames = ['Distance', 'Cosine', 'Velocity Cosine', 'Speed Differential', 'Collision Probability', 'Severity Index', 'TTC'] # severityIndicator = {'Distance': 0, # 'Cosine': 1, # 'Velocity Cosine': 2, # 'Speed Differential': 3, # 'Collision Probability': 4, # 'Severity Index': 5, # 'TTC': 6} mostSevereIsMax = [False, False, True, True, True, True, False] ignoredValue = [None, None, None, None, None, None, -1] def getFileType(s): 'Finds the type in fileTypeNames' for fileType in fileTypeNames: if s.find(fileType)>0: return fileType return '' def isFileType(s, fileType): return (s.find(fileType)>0) def saveTrajectoryUserTypes(inFilename, outFilename, objects): '''The program saves the objects, by just copying the corresponding trajectory and velocity data from the inFilename, and saving the characteristics in objects (first line) into outFilename''' infile = utils.openCheck(inFilename) outfile = utils.openCheck(outFilename,'w') if (inFilename.find('features') >= 0) or (not infile) or (not outfile): return lines = utils.getLines(infile) objNum = 0 # in inFilename while lines != []: # find object in objects (index i) i = 0 while (i<len(objects)) and (objects[i].num != objNum): i+=1 if i<len(objects): l = lines[0].split(' ') l[3] = str(objects[i].userType) outfile.write(' '.join(l)+'\n') for l in lines[1:]: outfile.write(l+'\n') outfile.write(utils.delimiterChar+'\n') # next object objNum += 1 lines = utils.getLines(infile) print('read {0} objects'.format(objNum)) def modifyTrajectoryFile(modifyLines, filenameIn, filenameOut): '''Reads filenameIn, replaces the lines with the result of modifyLines and writes the result in filenameOut''' fileIn = utils.openCheck(filenameIn, 'r', True) fileOut = utils.openCheck(filenameOut, "w", True) lines = utils.getLines(fileIn) trajNum = 0 while (lines != []): modifiedLines = modifyLines(trajNum, lines) if modifiedLines: for l in modifiedLines: fileOut.write(l+"\n") fileOut.write(utils.delimiterChar+"\n") lines = utils.getLines(fileIn) trajNum += 1 fileIn.close() fileOut.close() def copyTrajectoryFile(keepTrajectory, filenameIn, filenameOut): '''Reads filenameIn, keeps the trajectories for which the function keepTrajectory(trajNum, lines) is True and writes the result in filenameOut''' fileIn = utils.openCheck(filenameIn, 'r', True) fileOut = utils.openCheck(filenameOut, "w", True) lines = utils.getLines(fileIn) trajNum = 0 while (lines != []): if keepTrajectory(trajNum, lines): for l in lines: fileOut.write(l+"\n") fileOut.write(utils.delimiterChar+"\n") lines = utils.getLines(fileIn) trajNum += 1 fileIn.close() fileOut.close() def loadTrajectories(filename, nObjects = -1): '''Loads trajectories''' file = utils.openCheck(filename) if (not file): return [] objects = [] objNum = 0 objectType = getFileType(filename) lines = utils.getLines(file) while (lines != []) and ((nObjects<0) or (objNum<nObjects)): l = lines[0].split(' ') parsedLine = [int(n) for n in l[:4]] obj = MovingObject(num = objNum, timeInterval = TimeInterval(parsedLine[1],parsedLine[2])) #add = True if len(lines) >= 3: obj.positions = Trajectory.load(lines[1], lines[2]) if len(lines) >= 5: obj.velocities = Trajectory.load(lines[3], lines[4]) if objectType == 'object': obj.userType = parsedLine[3] obj.nObjects = float(l[4]) obj.featureNumbers = [int(n) for n in l[5:]] # load contour data if available if len(lines) >= 6: obj.contourType = utils.line2Floats(lines[6]) obj.contourOrigins = Trajectory.load(lines[7], lines[8]) obj.contourSizes = Trajectory.load(lines[9], lines[10]) elif objectType == 'prototype': obj.userType = parsedLine[3] obj.nMatchings = int(l[4]) if len(lines) != 2: objects.append(obj) objNum+=1 else: print("Error two lines of data for feature %d"%(f.num)) lines = utils.getLines(file) file.close() return objects def getFeatureNumbers(objects): featureNumbers=[] for o in objects: featureNumbers += o.featureNumbers return featureNumbers def loadInteractions(filename, nInteractions = -1): 'Loads interactions from the old UBC traffic event format' from event import Interaction from moving import SeverityIndicator file = utils.openCheck(filename) if (not file): return [] interactions = [] interactionNum = 0 lines = utils.getLines(file) while (lines != []) and ((nInteractions<0) or (interactionNum<nInteractions)): parsedLine = [int(n) for n in lines[0].split(' ')] inter = Interaction(interactionNum, TimeInterval(parsedLine[1],parsedLine[2]), parsedLine[3], parsedLine[4], categoryNum = parsedLine[5]) indicatorFrameNums = [int(n) for n in lines[1].split(' ')] inter.indicators = [] for indicatorNum,line in enumerate(lines[2:]): values = {} for i,v in enumerate([float(n) for n in line.split(' ')]): values[indicatorFrameNums[i]] = v inter.indicators.append(SeverityIndicator(severityIndicatorNames[indicatorNum], values, None, mostSevereIsMax[indicatorNum], ignoredValue[indicatorNum])) interactions.append(inter) interactionNum+=1 lines = utils.getLines(file) file.close() return interactions def loadCollisionPoints(filename, nPoints = -1): '''Loads collision points and returns a dict with keys as a pair of the numbers of the two interacting objects''' file = utils.openCheck(filename) if (not file): return [] points = {} num = 0 lines = utils.getLines(file) while (lines != []) and ((nPoints<0) or (num<nPoints)): parsedLine = [int(n) for n in lines[0].split(' ')] protagonistNums = (parsedLine[0], parsedLine[1]) points[protagonistNums] = [[float(n) for n in lines[1].split(' ')], [float(n) for n in lines[2].split(' ')]] num+=1 lines = utils.getLines(file) file.close() return points