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 = storage.openCheck(inFilename)
outfile = storage.openCheck(outFilename, 'w')
if (inFilename.find('features') >= 0) or (not infile) or (not outfile):
return
lines = storage.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 = storage.getLines(infile)
print('read {0} objects'.format(objNum))
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 = storage.openCheck(inFilename)
outfile = storage.openCheck(outFilename,'w')
if (inFilename.find('features') >= 0) or (not infile) or (not outfile):
return
lines = storage.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 = storage.getLines(infile)
print('read {0} objects'.format(objNum))
def loadInteractions(filename, nInteractions = -1):
'Loads interactions from the old UBC traffic event format'
from events import Interaction
from indicators import SeverityIndicator
file = storage.openCheck(filename)
if (not file):
return []
interactions = []
interactionNum = 0
lines = storage.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(' ')]
for indicatorNum,line in enumerate(lines[2:]):
values = {}
for i,v in enumerate([float(n) for n in line.split(' ')]):
if not ignoredValue[indicatorNum] or v != ignoredValue[indicatorNum]:
values[indicatorFrameNums[i]] = v
inter.addIndicator(SeverityIndicator(severityIndicatorNames[indicatorNum], values, None, mostSevereIsMax[indicatorNum]))
interactions.append(inter)
interactionNum+=1
lines = storage.getLines(file)
file.close()
return interactions
def loadTrajectories(filename, nObjects=-1):
'''Loads trajectories'''
file = storage.openCheck(filename)
if (not file):
return []
objects = []
objNum = 0
objectType = getFileType(filename)
lines = storage.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 = storage.getLines(file)
file.close()
return objects
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 = storage.openCheck(filenameIn, 'r', True)
fileOut = storage.openCheck(filenameOut, "w", True)
lines = storage.getLines(fileIn)
trajNum = 0
while (lines != []):
if keepTrajectory(trajNum, lines):
for l in lines:
fileOut.write(l + "\n")
fileOut.write(utils.delimiterChar + "\n")
lines = storage.getLines(fileIn)
trajNum += 1
fileIn.close()
fileOut.close()
def modifyTrajectoryFile(modifyLines, filenameIn, filenameOut):
'''Reads filenameIn, replaces the lines with the result of modifyLines and writes the result in filenameOut'''
fileIn = storage.openCheck(filenameIn, 'r', True)
fileOut = storage.openCheck(filenameOut, "w", True)
lines = storage.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 = storage.getLines(fileIn)
trajNum += 1
fileIn.close()
fileOut.close()
def modifyTrajectoryFile(modifyLines, filenameIn, filenameOut):
'''Reads filenameIn, replaces the lines with the result of modifyLines and writes the result in filenameOut'''
fileIn = storage.openCheck(filenameIn, 'r', True)
fileOut = storage.openCheck(filenameOut, "w", True)
lines = storage.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 = storage.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 = storage.openCheck(filenameIn, 'r', True)
fileOut = storage.openCheck(filenameOut, "w", True)
lines = storage.getLines(fileIn)
trajNum = 0
while (lines != []):
if keepTrajectory(trajNum, lines):
for l in lines:
fileOut.write(l+"\n")
fileOut.write(utils.delimiterChar+"\n")
lines = storage.getLines(fileIn)
trajNum += 1
fileIn.close()
fileOut.close()
def loadTrajectories(filename, nObjects = -1):
'''Loads trajectories'''
file = storage.openCheck(filename)
if (not file):
return []
objects = []
objNum = 0
objectType = getFileType(filename)
lines = storage.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 = storage.getLines(file)
file.close()
return objects
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 = storage.openCheck(filename)
if (not file):
return []
points = {}
num = 0
lines = storage.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 = storage.getLines(file)
file.close()
return points
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 = storage.openCheck(filename)
if (not file):
return []
points = {}
num = 0
lines = storage.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 = storage.getLines(file)
file.close()
return points
# imagePoints[i,:] = [iPoints[:,i].tolist()];
# H = cvCreateMat(3, 3, CV_64FC1);
# cvFindHomography(imagePoints, worldPoints, H);
homography = np.array([])
if args.pointCorrespondencesFilename is not None:
worldPts, videoPts = cvutils.loadPointCorrespondences(
args.pointCorrespondencesFilename)
homography, mask = cv2.findHomography(
videoPts, worldPts) # method=0, ransacReprojThreshold=3
elif args.tsaiCameraFilename is not None: # hack using PDTV
from pdtv import TsaiCamera
f = storage.openCheck(args.tsaiCameraFilename, quitting=True)
content = storage.getLines(f)
cameraData = {}
for l in content:
tmp = l.split(':')
cameraData[tmp[0]] = float(tmp[1].strip().replace(',', '.'))
camera = TsaiCamera(Cx=cameraData['Cx'],
Cy=cameraData['Cy'],
Sx=cameraData['Sx'],
Tx=cameraData['Tx'],
Ty=cameraData['Ty'],
Tz=cameraData['Tz'],
dx=cameraData['dx'],
dy=cameraData['dy'],
f=cameraData['f'],
k=cameraData['k'],
r1=cameraData['r1'],