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comparison python/utils.py @ 513:dbf4b83afbb9

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pulled in and merged the new functionalities to deal with camera distortion (eg GoPro cameras)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 04 Jun 2014 10:57:09 -0400
parents ad518f0c3218
children 0c86c73f3c09
comparison
equal deleted inserted replaced
505:35c99776e593 513:dbf4b83afbb9
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
465 461
466 ######################### 462 #########################
467 # file I/O section 463 # file I/O section
468 ######################### 464 #########################
469 465
470 def openCheck(filename, option = 'r', quit = False):
471 '''Open file filename in read mode by default
472 and checks it is open'''
473 try:
474 return open(filename, option)
475 except IOError:
476 print 'File %s could not be opened.' % filename
477 if quit:
478 from sys import exit
479 exit()
480 return None
481
482 def readline(f, commentCharacter = commentChar):
483 '''Modified readline function to skip comments.'''
484 s = f.readline()
485 while (len(s) > 0) and s.startswith(commentCharacter):
486 s = f.readline()
487 return s.strip()
488
489 def getLines(f, delimiterCharacter = delimiterChar):
490 '''Gets a complete entry (all the lines) in between delimiterChar.'''
491 dataStrings = []
492 s = readline(f)
493 while (len(s) > 0) and (not s.startswith(delimiterCharacter)):
494 dataStrings += [s.strip()]
495 s = readline(f)
496 return dataStrings
497
498 class FakeSecHead(object):
499 '''Add fake section header [asection]
500
501 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788
502 use read_file in Python 3.2+
503 '''
504 def __init__(self, fp):
505 self.fp = fp
506 self.sechead = '[main]\n'
507
508 def readline(self):
509 if self.sechead:
510 try: return self.sechead
511 finally: self.sechead = None
512 else: return self.fp.readline()
513
514 def removeExtension(filename, delimiter = '.'): 466 def removeExtension(filename, delimiter = '.'):
515 '''Returns the filename minus the extension (all characters after last .)''' 467 '''Returns the filename minus the extension (all characters after last .)'''
516 i = filename.rfind(delimiter) 468 i = filename.rfind(delimiter)
517 if i>0: 469 if i>0:
518 return filename[:i] 470 return filename[:i]
592 544
593 return optionValues 545 return optionValues
594 546
595 547
596 ######################### 548 #########################
597 # Utils to read .ini type text files for configuration, meta data...
598 #########################
599
600 class TrackingParameters:
601 '''Class for tracking and safety parameters
602
603 Note: framerate is already taken into account'''
604 def loadConfigFile(self, filename):
605 from ConfigParser import ConfigParser
606 from numpy import loadtxt
607 from os import path
608
609 config = ConfigParser()
610 config.readfp(FakeSecHead(openCheck(filename)))
611 self.sectionHeader = config.sections()[0]
612 self.videoFilename = config.get(self.sectionHeader, 'video-filename')
613 self.databaseFilename = config.get(self.sectionHeader, 'database-filename')
614 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename')
615 if (path.exists(self.homographyFilename)):
616 self.homography = loadtxt(self.homographyFilename)
617 else:
618 self.homography = None
619 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
620 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
621
622 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
623 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
624 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance')
625 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
626 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method')
627 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
628 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2
629 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate
630 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2
631 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2
632 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
633 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
634
635 class SceneParameters:
636 def __init__(self, config, sectionName):
637 from ConfigParser import NoOptionError
638 from ast import literal_eval
639 try:
640 self.sitename = config.get(sectionName, 'sitename')
641 self.databaseFilename = config.get(sectionName, 'data-filename')
642 self.homographyFilename = config.get(sectionName, 'homography-filename')
643 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
644 self.videoFilename = config.get(sectionName, 'video-filename')
645 self.frameRate = config.getfloat(sectionName, 'framerate')
646 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
647 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
648 self.rotation = config.getfloat(sectionName, 'rotation')
649 self.duration = config.getint(sectionName, 'duration')
650 except NoOptionError as e:
651 print(e)
652 print('Not a section for scene meta-data')
653
654 @staticmethod
655 def loadConfigFile(filename):
656 from ConfigParser import ConfigParser
657 config = ConfigParser()
658 config.readfp(openCheck(filename))
659 configDict = dict()
660 for sectionName in config.sections():
661 configDict[sectionName] = SceneParameters(config, sectionName)
662 return configDict
663
664 #########################
665 # running tests 549 # running tests
666 ######################### 550 #########################
667 551
668 if __name__ == "__main__": 552 if __name__ == "__main__":
669 import doctest 553 import doctest