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comparison python/utils.py @ 509:935430b1d408

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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 23 May 2014 16:27:26 -0400
parents 343cfd185ca6
children ad518f0c3218
comparison
equal deleted inserted replaced
508:6f7fa0093162 509:935430b1d408
4 #from numpy import * 4 #from numpy import *
5 #from pylab import * 5 #from pylab import *
6 from datetime import time, datetime 6 from datetime import time, datetime
7 7
8 __metaclass__ = type 8 __metaclass__ = type
9
10 commentChar = '#'
11
12 delimiterChar = '%';
13 9
14 datetimeFormat = "%Y-%m-%d %H:%M:%S" 10 datetimeFormat = "%Y-%m-%d %H:%M:%S"
15 11
16 ######################### 12 #########################
17 # Enumerations 13 # Enumerations
460 456
461 ######################### 457 #########################
462 # file I/O section 458 # file I/O section
463 ######################### 459 #########################
464 460
465 def openCheck(filename, option = 'r', quit = False):
466 '''Open file filename in read mode by default
467 and checks it is open'''
468 try:
469 return open(filename, option)
470 except IOError:
471 print 'File %s could not be opened.' % filename
472 if quit:
473 from sys import exit
474 exit()
475 return None
476
477 def readline(f, commentCharacter = commentChar):
478 '''Modified readline function to skip comments.'''
479 s = f.readline()
480 while (len(s) > 0) and s.startswith(commentCharacter):
481 s = f.readline()
482 return s.strip()
483
484 def getLines(f, delimiterCharacter = delimiterChar):
485 '''Gets a complete entry (all the lines) in between delimiterChar.'''
486 dataStrings = []
487 s = readline(f)
488 while (len(s) > 0) and (not s.startswith(delimiterCharacter)):
489 dataStrings += [s.strip()]
490 s = readline(f)
491 return dataStrings
492
493 class FakeSecHead(object):
494 '''Add fake section header [asection]
495
496 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788
497 use read_file in Python 3.2+
498 '''
499 def __init__(self, fp):
500 self.fp = fp
501 self.sechead = '[main]\n'
502
503 def readline(self):
504 if self.sechead:
505 try: return self.sechead
506 finally: self.sechead = None
507 else: return self.fp.readline()
508
509 def removeExtension(filename, delimiter = '.'): 461 def removeExtension(filename, delimiter = '.'):
510 '''Returns the filename minus the extension (all characters after last .)''' 462 '''Returns the filename minus the extension (all characters after last .)'''
511 i = filename.rfind(delimiter) 463 i = filename.rfind(delimiter)
512 if i>0: 464 if i>0:
513 return filename[:i] 465 return filename[:i]
587 539
588 return optionValues 540 return optionValues
589 541
590 542
591 ######################### 543 #########################
592 # Utils to read .ini type text files for configuration, meta data...
593 #########################
594
595 class TrackingParameters:
596 '''Class for tracking and safety parameters
597
598 Note: framerate is already taken into account'''
599 def loadConfigFile(self, filename):
600 from ConfigParser import ConfigParser
601 from numpy import loadtxt
602 from os import path
603
604 config = ConfigParser()
605 config.readfp(FakeSecHead(openCheck(filename)))
606 self.sectionHeader = config.sections()[0]
607 self.videoFilename = config.get(self.sectionHeader, 'video-filename')
608 self.databaseFilename = config.get(self.sectionHeader, 'database-filename')
609 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename')
610 if (path.exists(self.homographyFilename)):
611 self.homography = loadtxt(self.homographyFilename)
612 else:
613 self.homography = None
614 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
615 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
616
617 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
618 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
619 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance')
620 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
621 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method')
622 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
623 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2
624 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate
625 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2
626 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2
627 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
628 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
629
630 class SceneParameters:
631 def __init__(self, config, sectionName):
632 from ConfigParser import NoOptionError
633 from ast import literal_eval
634 try:
635 self.sitename = config.get(sectionName, 'sitename')
636 self.databaseFilename = config.get(sectionName, 'data-filename')
637 self.homographyFilename = config.get(sectionName, 'homography-filename')
638 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
639 self.videoFilename = config.get(sectionName, 'video-filename')
640 self.frameRate = config.getfloat(sectionName, 'framerate')
641 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
642 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
643 self.rotation = config.getfloat(sectionName, 'rotation')
644 self.duration = config.getint(sectionName, 'duration')
645 except NoOptionError as e:
646 print(e)
647 print('Not a section for scene meta-data')
648
649 @staticmethod
650 def loadConfigFile(filename):
651 from ConfigParser import ConfigParser
652 config = ConfigParser()
653 config.readfp(openCheck(filename))
654 configDict = dict()
655 for sectionName in config.sections():
656 configDict[sectionName] = SceneParameters(config, sectionName)
657 return configDict
658
659 #########################
660 # running tests 544 # running tests
661 ######################### 545 #########################
662 546
663 if __name__ == "__main__": 547 if __name__ == "__main__":
664 import doctest 548 import doctest