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data_class.py
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data_class.py
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# -*- coding: utf-8 -*-
"""
Created on Fri Jun 24 14:02:14 2016
@author: LordPhillips
"""
from utils import constants as c
from utils import frame_util as futil
from utils import vehicleclass as v
import numpy as np
import os
import math
import time
import re
import random
'''Returns a list of vids in the prev frame but not in cur frame'''
def getExitedVIDs(prevFrame,curFrame):
setOfIDs = prevFrame.keys() - curFrame.keys()
return list(setOfIDs)
class data:
def __init__(self, filepath, compressed, goals=True, constraints=True, featurepath=None):
self.compressed = compressed
self.featurepath = featurepath
self.filepath = filepath
self.VIDs = []
self.frameDict = self.makeFrameDict(filepath, self.compressed)
self.firstFrame = min(self.frameDict.keys())
self.numFrames = max(self.frameDict.keys()) #last frame, technically
self.maxVID = self.findMaxVID()
if constraints:
self.maxAccel, self.minAccel, self.maxVel, self.minVel = self.findConstraints()
else:
self.maxAccel, self.minAccel, self.maxVel, self.minVel = [0]*4
if goals:
self.goals = self.findGoalCords() #also finds dest lanes
else:
self.goals = None
#self.agentIDs = range(1,self.maxVID)
#self.agents = self.initAgents()
'''FrameDict will have entries where every key is a dict of all vehicles
that are present in that frame framedict = s{frameid: {vid:vehicledata}}'''
def makeFrameDict(self, filepath, compressed):
trajectoryFile = open(filepath, 'r')
lines = trajectoryFile.readlines()
numLines = len(lines)
lineCounter = 0
frameDict = {}
for line in lines:
if lineCounter % 30000 == 0:
print("Processed line for dict: ", lineCounter, "/", numLines)
array = line.split()
veh = v.vehicle(array, compressed)
if not veh.getVID() in self.VIDs:
self.VIDs.append(veh.getVID())
fid = veh.getFrame()
if fid in frameDict.keys():
#frameDict[fid] is a dict of vid:vehicledata
frameDict[fid][veh.getVID()] = array
else:
frameDict[fid] = {veh.getVID(): array}
lineCounter += 1
return frameDict
'''Add lane type, movement at next intersection
To be used after frame dict has been made
designed for the bayes net stuff im doing in Julia
Does not keep the new data structure permanently, but does write to
file that will be read in julia
#laneid serves as a count of 'closeness' to side, except bays
'''
def augmentforJulia(self):
newFD = {}
n_frames_skip = 0
laneTypes = c.lanetypes
nextMoves = {} #vid-fid : move at next intersection
distances = {} #same, except distance to intersection
vidfidstoupdate = {}
s = '-' #this is sep
sortedFrames = sorted(list(self.frameDict.keys()), reverse=False)
framesDone = 0
for fid in sortedFrames:
if framesDone % 1000 == 0:
print("First pass: done", framesDone, "/", len(sortedFrames),"...")
framesDone = framesDone + 1
frame = self.frameDict[fid]
for vid in frame.keys():
veh = v.vehicle(frame[vid], self.compressed)
if veh.getSect() > 0:
posX = veh.getX()
posY = veh.getY()
if vid in vidfidstoupdate.keys():
vidfidstoupdate[vid][fid]=[posX,posY]
else:
vidfidstoupdate[vid] = {fid:[posX,posY]}
else:
move = veh.getMove()
posX = veh.getX()
posY = veh.getY()
if vid in vidfidstoupdate.keys():
for fid2 in vidfidstoupdate[vid].keys():
indx = str(vid)+s+str(fid2)
nextMoves[indx] = move
dx = posX - vidfidstoupdate[vid][fid2][0]
dy = posY - vidfidstoupdate[vid][fid2][1]
distances[indx] = math.hypot(dx, dy)
vidfidstoupdate[vid] = {}
nextMoves[str(vid)+s+str(fid)] = move #dont forget this one...
distances[str(vid)+s+str(fid)] = 0 # in intersection
print("First pass done")
framesDone = 0
for fid in sortedFrames:
if framesDone % 1000 == 0:
print("First pass: done", framesDone, "/", len(sortedFrames),"...")
framesDone = framesDone + 1
if fid < n_frames_skip:
continue
#first pass
frame = self.frameDict[fid]
for vid in frame.keys():
veharr = frame[vid]
veh = v.vehicle(veharr, self.compressed)
lanetypeindex = str(veh.getSect())+s+str(veh.getDir())+s+str(veh.getLane())
if lanetypeindex in laneTypes.keys():
veharr.append(laneTypes[lanetypeindex])
else:
veharr.append(0) # if not one of those anything can happen
mv_dis_indx = str(vid)+s+str(fid)
if mv_dis_indx in nextMoves.keys():
veharr.append(nextMoves[mv_dis_indx])
else:
veharr.append(0)
if mv_dis_indx in distances.keys():
veharr.append(distances[mv_dis_indx])
else:
veharr.append(0)
frame[vid] = veharr
newFD[fid] = frame
futil.saveJuliaFD(self.filepath, newFD)
def save(self, constraints=False):
print("Saving frameDict...")
futil.saveFrameDict(self.filepath,self.frameDict, self.compressed)
if constraints:
print("Saving constraints and goal cords...")
self.saveConstraintsCords()
def loadFeatureConstraints(self, goalsOrConstraints='goals'):
filepath = self.featurepath
trajectoryFile = open(filepath, 'r')
lines = trajectoryFile.readlines()
goals = False
constraints = False
goal_to_cords = {}
constrs = {}
constrsDone = 0
#will be a dict that maps dest_num: (avg_x, avg_y), n
#key = (dest, destLane)
#d[key]=(x,y),n -- d[key][0]=(x,y) -- d[key][1] = n -- d[key][0][0] = x
for line in lines:
if 'GOALS TO CORDS' in line:
goals = True
constraints = False
continue
if 'CONSTRAINTS' in line:
constraints = True
goals = False
constrsDone = 1
continue
array = list(filter(None, re.split("[, (\n)]",line)))
if goals and 'oal' in goalsOrConstraints:
dest = int(array[0])
destLane = int(array[1])
destX = float("{0:.2f}".format(float(array[2])))
destY = float("{0:.2f}".format(float(array[3])))
n = int(array[4])
goal_to_cords[(dest,destLane)] = (destX,destY),n
elif constraints and 'onstr' in goalsOrConstraints:
constrs[constrsDone] = array
constrsDone = constrsDone + 1
if 'onstr' in goalsOrConstraints:
maxa = {1:constrs[1][0], 2:constrs[2][0], 3:constrs[3][0]}
mina = {1:constrs[1][1], 2:constrs[2][1], 3:constrs[3][1]}
maxv = {1:constrs[1][2], 2:constrs[2][2], 3:constrs[3][2]}
minv = {1:constrs[1][3], 2:constrs[2][3], 3:constrs[3][3]}
return maxa, mina, maxv, minv
if 'oal' in goalsOrConstraints:
return goal_to_cords
def saveConstraintsCords(self):
filename = os.path.basename(self.filepath)
outpath = self.filepath[:-len(filename)]+'FEATURES_'+filename
outFile = open(outpath, 'w')
goal_to_cords_dict = self.goals
keys = list(goal_to_cords_dict.keys())
keys.sort() #to make things nicer
outFile.write("GOALS TO CORDS\n")
for key in keys:
#key = (dest, destLane)
#d[key]=(x,y),n -- d[key][0]=(x,y) -- d[key][1] = n -- d[key][0][0] = x
(dest, destLane) = key
xCord = goal_to_cords_dict[key][0]
yCord = goal_to_cords_dict[key][1]
outArr = [dest, destLane, xCord, yCord]
outFile.write(futil.arrToStrForSave(outArr))
outFile.write("CONSTRAINTS\n")
mxA, mnA, mxV, mnV = self.maxAccel, self.minAccel, self.maxVel, self.minVel
bikeConstrs = [mxA[1],mnA[1],mxV[1],mnV[1]]
carConstrs = [mxA[2],mnA[2],mxV[2],mnV[2]]
truckConstrs = [mxA[3],mnA[3],mxV[3],mnV[3]]
outFile.write(futil.arrToStrForSave(bikeConstrs))
outFile.write(futil.arrToStrForSave(carConstrs))
outFile.write(futil.arrToStrForSave(truckConstrs))
outFile.close()
def findMaxVID(self):
lastFrame = self.frameDict[self.numFrames]
maxvid = 0
for vid in lastFrame.keys():
veh = v.vehicle(lastFrame[vid],self.compressed)
maxvid = max(int(veh.getVID()), maxvid)
return maxvid
#find constraints
def findConstraints(self):
#1-moto, 2-auto, 3-truck
if self.featurepath:
print("Loading constraints...")
return self.loadFeatureConstraints('constraints')
print("Finding constraints...")
maxaccel = {1:0,2:0,3:0}
minaccel = {1:0,2:0,3:0}
maxvel = {1:0,2:0,3:0}
minvel = {1:0,2:0,3:0}
for frameid in self.frameDict.keys():
if int(frameid) % 300 == 0:
print("on frame", frameid, "...")
for vid in self.frameDict[frameid].keys():
veh = v.vehicle(self.frameDict[frameid][vid],self.compressed)
vclass = veh.getClass()
if veh.getAx() < 30 and veh.getAy() < 30:
maxaccel[vclass] = max(veh.getAx(), veh.getAy(), maxaccel[vclass])
if veh.getAx() > -30 and veh.getAy() > -30:
minaccel[vclass] = min(veh.getAx(), veh.getAy(), minaccel[vclass])
maxvel[vclass] = max(veh.getVx(), veh.getVy(), maxvel[vclass])
minvel[vclass] = min(veh.getVx(), veh.getVy(), minvel[vclass])
return maxaccel, minaccel, maxvel, minvel
def checkEntryLen(self,desired_length, frameid, vid, errmsg="Error:"):
if not len(self.frameDict[frameid][vid]) == desired_length:
print(errmsg, len(self.frameDict[frameid][vid]))
print(frameid, vid)
return True
return False
def checkFrameLen(self, desired_length, frameid, errmsg="Error:", yaw=False):
for vid in self.frameDict[frameid].keys():
if self.checkEntryLen(desired_length,frameid,vid,errmsg):
if yaw:
veh = v.vehicle(self.frameDict[frameid][vid], self.compressed)
print("YAW", veh.getOrientation())
def checkDictLen(self, desired_length, errmsg="Error:"):
for frameid in self.frameDict.keys():
self.checkFrameLen (desired_length, frameid, errmsg)
def updateOrientations(self, frameids):
self.setFirstOrient()
prevFrame = self.frameDict[self.firstFrame]
#self.checkFrameLen(28, self.firstFrame, "Error in first orientations")
for frameid in frameids[1:]:
curFrame = self.frameDict[frameid]
self.setOrientations(prevFrame, curFrame, frameid)
#self.checkFrameLen(28,frameid,"Error in orientation, med", True)
prevFrame = curFrame
def calcYaw(self, dy, dx):
yaw = math.atan2(dy,dx)
return yaw
def setFirstOrient(self):
frame = self.frameDict[self.firstFrame]
for vid in frame.keys():
arr = frame[vid]
veh = v.vehicle(arr,self.compressed)
arr.append(veh.getOrientation())
self.frameDict[self.firstFrame][vid] = arr
'''to be used with outer function, do after destlane is set'''
def setOrientations(self, prevFrame, curFrame, curid):
threshold = 0.5 #if the car moves a very small amount dont update
max_diff = math.pi/4 #if there is too much rotation ignore.
numToAverage = 3 #smooth orientation over the last 3 orientations
for vid in curFrame.keys():
if vid in prevFrame.keys():
veh_cur = v.vehicle(curFrame[vid], self.compressed)
veh_prev = v.vehicle(prevFrame[vid], self.compressed)
dx = veh_cur.getX()-veh_prev.getX()
dy = veh_cur.getY()-veh_prev.getY()
if abs(dx) < threshold or abs(dy) < threshold:
if abs(self.calcYaw(dy,dx) - veh_prev.getOrientation()) > max_diff:
yaw = veh_prev.getOrientation()
else:
yaw = self.calcYaw(dy,dx)
else:
yaw = self.calcYaw(dy,dx)
prev_tot = veh_prev.getOrientation() * numToAverage
new_avg = ((prev_tot - veh_prev.getOrientation()) + yaw) / numToAverage
new_veh_data = curFrame[vid]
new_veh_data.append(new_avg)
self.frameDict[curid][vid] = new_veh_data
#if self.checkEntryLen(28,curid,vid,"Error in orientation, innermost"):
# print("Yaw:", yaw)
def setDestLanes(self, destLaneDict):
for frameid in self.frameDict.keys():
for vid in self.frameDict[frameid].keys():
destLane = destLaneDict[vid]
new_veh_data = self.frameDict[frameid][vid]
new_veh_data.append(destLane)
self.frameDict[frameid][vid] = new_veh_data
#self.checkFrameLen(27,frameid,"Error in dest lanes, innermost")
def setDestCords(self, goal_to_cords):
for frameid in self.frameDict.keys():
for vid in self.frameDict[frameid].keys():
new_veh_array = self.frameDict[frameid][vid]
veh = v.vehicle(new_veh_array, self.compressed)
dest = veh.getDest()
destLane = veh.getDestLane()
cords = goal_to_cords[(dest,destLane)][0]
new_veh_array.append(cords[0])
new_veh_array.append(cords[1])
self.frameDict[frameid][vid] = new_veh_array
#self.checkFrameLen(30,frameid,"Error in destination cords, innermost")
def goalCalcs(self, frame, vid, goal_to_cords):
veh = v.vehicle(frame[vid],self.compressed)
dest = veh.getDest()
x = veh.getX()
y = veh.getY()
destLane = veh.getLane()
if (dest,destLane) in goal_to_cords.keys():
val = goal_to_cords[(dest,destLane)]
prev_n = val[1]
prev_avgX = val[0][0]
prev_avgY = val[0][1]
else:
prev_n, prev_avgX, prev_avgY = [0]*3
new_avgX = float("{0:.2f}".format(float(((prev_avgX*prev_n) + x)/(prev_n+1))))
new_avgY = float("{0:.2f}".format(float(((prev_avgY*prev_n) + y)/(prev_n+1))))
newGoal = (new_avgX, new_avgY), prev_n+1
return dest, destLane, newGoal
'''finds goals by averaging last coordinates of cars that go there
(and find lanes)
(and set orientation)'''
def findGoalCords(self):
if self.featurepath:
print("Loading goals...")
return self.loadFeatureConstraints('goals')
#do not need to update anything either
goal_to_cords = {}
#will be a dict that maps dest_num: (avg_x, avg_y), n
#key = (dest, destLane)
#d[key]=(x,y),n -- d[key][0]=(x,y) -- d[key][1] = n -- d[key][0][0] = x
dest_lanes = {} #vid:destLane
frameids = list(self.frameDict.keys())
prevFrame = self.frameDict[self.firstFrame]
for frameid in frameids[1:]:
curFrame = self.frameDict[frameid]
exited_vids = getExitedVIDs(prevFrame,curFrame)
for vid in exited_vids:
dest, destLane, newGoal = self.goalCalcs(prevFrame, vid, goal_to_cords)
dest_lanes[vid] = destLane
goal_to_cords[(dest,destLane)] = newGoal
if frameid == self.numFrames:
#last frame
for vid in curFrame.keys():
if not vid in dest_lanes.keys():
dest, destLane, newGoal = self.goalCalcs(curFrame, vid, goal_to_cords)
dest_lanes[vid] = destLane
goal_to_cords[(dest,destLane)] = newGoal
prevFrame = curFrame
if not self.compressed:
self.updateDict(dest_lanes, frameids, goal_to_cords)
return goal_to_cords
def hasVID(self, vid):
return vid in self.VIDs
def getRandVid(self):
randFrame = random.choice(list(self.frameDict.keys()))
return random.choice(list(self.frameDict[randFrame].keys()))
def updateDict(self, dest_lanes, frameids, goal_to_cords):
print("Updating destination lanes...")
self.setDestLanes(dest_lanes) #sets all dest lanes
#self.checkDictLen(27,"Error in destination lanes, outer")
print("Udating orientations...")
self.updateOrientations(frameids)
#self.checkDictLen(28,"Error in orientations, outer")
print("Updating destination coordinates...")
self.setDestCords(goal_to_cords)
#self.checkDictLen(30,"Error in dest cords, outer")
def lastFrameForVID(self, vid):
fd = self.getFrameDict()
lastF = -1
if not self.hasVID(vid):
return -1
for fid in fd.keys():
if vid in fd[fid]:
lastF = fid
else:
if lastF > 0:
return lastF
return lastF
def getDest(self, fid, vid):
arr = self.frameDict[fid][vid]
veh = v.vehicle(arr, self.compressed)
return veh.getDest(), veh.getDestLane()
def vidIsLastInFrame(self, vid, fid):
return vid == max(self.frameDict[fid].keys())
def firstVIDinFrame(self, fid):
return min(list(self.frameDict[fid].keys()))
def getVIDs(self):
return self.VIDs
def getFrameDict(self):
return self.frameDict
'''getFrame returns a dictionary for the frame indicated by 'key' '''
def getFrame(self,key):
if key > self.numFrames or key < self.firstFrame:
return None
return self.frameDict[key]
def getFirstFrame(self):
return self.firstFrame
def getNumFrames(self):
return self.numFrames
def getCompressed(self):
return self.compressed
def getMaxVID(self):
return self.maxVID
def getConstraints(self):
return self.maxAccel, self.minAccel, self.maxVel, self.minVel
def getGoals(self):
return self.goals
def getPath(self):
return self.filepath
def getVehicle(self, vid, fid):
return v.vehicle(self.frameDict[fid][vid], self.compressed)