Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 541:048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Mon, 07 Jul 2014 12:30:46 -0400 |
parents | 6c264b914846 |
children | a3add9f751ef |
rev | line source |
---|---|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1 #! /usr/bin/env python |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
2 # -*- coding: utf-8 -*- |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
3 '''Various utilities to save and load data''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
4 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
5 import utils, moving, events, indicators |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
6 |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
7 import sqlite3, logging |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
8 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
9 __metaclass__ = type |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
10 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
11 |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
12 commentChar = '#' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
13 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
14 delimiterChar = '%'; |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
15 |
50 | 16 ngsimUserTypes = {'twowheels':1, |
204
966c2cd2bd9f
added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
203
diff
changeset
|
17 'car':2, |
966c2cd2bd9f
added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
203
diff
changeset
|
18 'truck':3} |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
19 |
259
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
246
diff
changeset
|
20 ######################### |
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
246
diff
changeset
|
21 # Sqlite |
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
246
diff
changeset
|
22 ######################### |
8ab76b95ee72
added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
246
diff
changeset
|
23 |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
24 # utils |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
25 def printDBError(error): |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
26 print('DB Error: {}'.format(error)) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
27 |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
28 def dropTables(connection, tableNames): |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
29 'deletes the table with names in tableNames' |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
30 try: |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
31 cursor = connection.cursor() |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
32 for tableName in tableNames: |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
33 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
34 except sqlite3.OperationalError as error: |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
35 printDBError(error) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
36 |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
37 # IO to sqlite |
382
ba813f148ade
development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
38 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1): |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
39 """ |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
40 This function writers trajectories to a specified sqlite file |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
41 @param[in] objects -> a list of trajectories |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
42 @param[in] trajectoryType - |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
43 @param[out] outFile -> the .sqlite file containting the written objects |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
44 @param[in] objectNumber : number of objects loaded |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
45 """ |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
46 connection = sqlite3.connect(outFilename) |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
47 cursor = connection.cursor() |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
48 |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
49 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))" |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
50 cursor.execute(schema) |
212
ce44605f888a
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
211
diff
changeset
|
51 |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
52 trajectory_id = 0 |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
53 frame_number = 0 |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
54 if trajectoryType == 'feature': |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
55 if type(objectNumbers) == int and objectNumbers == -1: |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
56 for trajectory in objects: |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
57 trajectory_id += 1 |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
58 frame_number = 0 |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
59 for position in trajectory.getPositions(): |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
60 frame_number += 1 |
212
ce44605f888a
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
211
diff
changeset
|
61 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
ce44605f888a
minor modifications
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
211
diff
changeset
|
62 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
63 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
64 connection.commit() |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
65 connection.close() |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
66 |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
67 def setRoadUserTypes(filename, objects): |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
68 '''Saves the user types of the objects in the sqlite database stored in filename |
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
69 The objects should exist in the objects table''' |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
70 connection = sqlite3.connect(filename) |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
71 cursor = connection.cursor() |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
72 for obj in objects: |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
73 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
74 connection.commit() |
208
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
75 connection.close() |
d9855499fc88
Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents:
204
diff
changeset
|
76 |
209
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
77 def loadPrototypeMatchIndexesFromSqlite(filename): |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
78 """ |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
79 This function loads the prototypes table in the database of name <filename>. |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
80 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
81 """ |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
82 matched_indexes = [] |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
83 |
211 | 84 connection = sqlite3.connect(filename) |
209
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
85 cursor = connection.cursor() |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
86 |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
87 try: |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
88 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
89 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
90 printDBError(error) |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
91 return [] |
209
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
92 |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
93 for row in cursor: |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
94 matched_indexes.append((row[0],row[1])) |
211 | 95 |
96 connection.close() | |
209
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
97 return matched_indexes |
746d02cea65f
Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents:
208
diff
changeset
|
98 |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
99 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
100 if trajectoryType == 'feature': |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
101 statementBeginning = 'where trajectory_id ' |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
102 elif trajectoryType == 'object': |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
103 statementBeginning = 'and OF.object_id ' |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
104 else: |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
105 print('no trajectory type was chosen') |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
106 |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
107 if type(objectNumbers) == int: |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
108 if objectNumbers == -1: |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
109 query = '' |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
110 else: |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
111 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
112 elif type(objectNumbers) == list: |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
113 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
114 return query |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
115 |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
116 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
117 '''Loads trajectories (in the general sense) from the given table |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
118 can be positions or velocities |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
119 |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
120 returns a moving object''' |
143
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
121 cursor = connection.cursor() |
204
966c2cd2bd9f
added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
203
diff
changeset
|
122 |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
123 try: |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
124 if trajectoryType == 'feature': |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
125 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
126 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number' |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
127 cursor.execute(queryStatement) |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
128 logging.debug(queryStatement) |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
129 elif trajectoryType == 'object': |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
130 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
131 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number' |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
132 cursor.execute(queryStatement) |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
133 logging.debug(queryStatement) |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
134 else: |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
135 print('no trajectory type was chosen') |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
136 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
137 printDBError(error) |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
138 return [] |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
139 |
143
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
140 objId = -1 |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
141 obj = None |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
142 objects = [] |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
143 for row in cursor: |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
144 if row[0] != objId: |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
145 objId = row[0] |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
146 if obj: |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
147 objects.append(obj) |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
148 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
149 else: |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
150 obj.timeInterval.last = row[1] |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
151 obj.positions.addPositionXY(row[2],row[3]) |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
152 |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
153 if obj: |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
154 objects.append(obj) |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
155 |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
156 return objects |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
157 |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
158 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
159 '''Loads nObjects or the indices in objectNumbers from the database''' |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
160 connection = sqlite3.connect(filename) # add test if it open |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
161 |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
162 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
163 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
164 |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
165 if len(objectVelocities) > 0: |
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
166 for o,v in zip(objects, objectVelocities): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
167 if o.getNum() == v.getNum(): |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
168 o.velocities = v.positions |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
169 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
170 else: |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
171 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
239
93c26e45efd8
modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
172 |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
173 if trajectoryType == 'object': |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
174 cursor = connection.cursor() |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
175 try: |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
176 # attribute feature numbers to objects |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
177 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
178 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
179 cursor.execute(queryStatement) |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
180 logging.debug(queryStatement) |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
181 |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
182 featureNumbers = {} |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
183 for row in cursor: |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
184 objId = row[1] |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
185 if objId not in featureNumbers: |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
186 featureNumbers[objId] = [row[0]] |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
187 else: |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
188 featureNumbers[objId].append(row[0]) |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
189 |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
190 for obj in objects: |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
191 obj.featureNumbers = featureNumbers[obj.getNum()] |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
192 |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
193 # load userType |
330
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
194 if objectIdQuery == '': |
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
195 cursor.execute('SELECT object_id, road_user_type from objects') |
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
196 else: |
00800ebae698
corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
329
diff
changeset
|
197 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
198 userTypes = {} |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
199 for row in cursor: |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
200 userTypes[row[0]] = row[1] |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
201 |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
202 for obj in objects: |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
203 obj.userType = userTypes[obj.getNum()] |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
204 |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
205 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
206 printDBError(error) |
263
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
207 return [] |
c71540470057
reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
259
diff
changeset
|
208 |
143
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
209 connection.close() |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
210 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
211 |
344
14a2405f54f8
slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
212 def removeFromSqlite(filename, dataType): |
14a2405f54f8
slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
213 'Removes some tables in the filename depending on type of data' |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
214 import os |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
215 if os.path.isfile(filename): |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
216 connection = sqlite3.connect(filename) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
217 if dataType == 'object': |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
218 dropTables(connection, ['objects', 'objects_features']) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
219 elif dataType == 'interaction': |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
220 dropTables(connection, ['interactions', 'indicators']) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
221 elif dataType == 'bb': |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
222 dropTables(connection, ['bounding_boxes']) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
223 else: |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
224 print('Unknown data type {} to delete from database'.format(dataType)) |
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
225 connection.close() |
344
14a2405f54f8
slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
343
diff
changeset
|
226 else: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
227 print('{} does not exist'.format(filename)) |
235
584613399513
added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
218
diff
changeset
|
228 |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
229 def createInteractionTable(cursor): |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
230 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))') |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
231 |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
232 def createIndicatorTables(cursor): |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
233 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))') |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
234 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))') |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
235 cursor.execute('CREATE TABLE IF NOT EXISTS indicators (interaction_id INTEGER, indicator_type INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(interaction_id) REFERENCES interactions(id), PRIMARY KEY(interaction_id, indicator_type, frame_number))') |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
236 |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
237 def saveInteraction(cursor, interaction): |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
238 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
239 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
240 |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
241 def saveInteractions(filename, interactions): |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
242 'Saves the interactions in the table' |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
243 connection = sqlite3.connect(filename) |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
244 cursor = connection.cursor() |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
245 try: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
246 createInteractionTable(cursor) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
247 for inter in interactions: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
248 saveInteraction(cursor, inter) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
249 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
250 printDBError(error) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
251 connection.commit() |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
252 connection.close() |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
253 |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
254 def saveIndicator(cursor, interactionNum, indicator): |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
255 for instant in indicator.getTimeInterval(): |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
256 if indicator[instant]: |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
257 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
258 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
259 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
260 'Saves the indicator values in the table' |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
261 connection = sqlite3.connect(filename) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
262 cursor = connection.cursor() |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
263 try: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
264 createInteractionTable(cursor) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
265 createIndicatorTables(cursor) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
266 for inter in interactions: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
267 saveInteraction(cursor, inter) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
268 for indicatorName in indicatorNames: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
269 indicator = inter.getIndicator(indicatorName) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
270 if indicator != None: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
271 saveIndicator(cursor, inter.getNum(), indicator) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
272 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
273 printDBError(error) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
274 connection.commit() |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
275 connection.close() |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
276 |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
277 def loadInteractions(filename): |
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
278 '''Loads interaction and their indicators |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
279 |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
280 TODO choose the interactions to load''' |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
281 interactions = [] |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
282 connection = sqlite3.connect(filename) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
283 cursor = connection.cursor() |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
284 try: |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
285 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type') |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
286 interactionNum = -1 |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
287 indicatorTypeNum = -1 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
288 tmpIndicators = {} |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
289 for row in cursor: |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
290 if row[0] != interactionNum: # save interaction and create new interaction |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
291 if interactionNum >= 0: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
292 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
293 interactions[-1].indicators = tmpIndicators |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
294 tmpIndicators = {} |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
295 interactionNum = row[0] |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
296 roadUserNumbers = row[1:3] |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
297 if indicatorTypeNum != row[5]: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
298 if indicatorTypeNum >= 0: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
299 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
300 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
301 indicatorTypeNum = row[5] |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
302 indicatorValues = {row[6]:row[7]} |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
303 else: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
304 indicatorValues[row[6]] = row[7] |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
305 if interactionNum >= 0: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
306 if indicatorTypeNum >= 0: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
307 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
308 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
309 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
310 interactions[-1].indicators = tmpIndicators |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
311 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
312 printDBError(error) |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
313 return [] |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
314 connection.close() |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
315 return interactions |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
316 # load first and last object instants |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
317 # CREATE TEMP TABLE IF NOT EXISTS object_instants AS SELECT OF.object_id, min(frame_number) as first_instant, max(frame_number) as last_instant from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by OF.object_id order by OF.object_id |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
318 |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
319 def createBoundingBoxTable(filename, invHomography = None): |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
320 '''Create the table to store the object bounding boxes in image space |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
321 ''' |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
322 connection = sqlite3.connect(filename) |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
323 cursor = connection.cursor() |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
324 try: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
325 cursor.execute('CREATE TABLE IF NOT EXISTS bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))') |
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
326 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
327 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
328 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+ |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
329 'GROUP BY object_id, frame_number') |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
330 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
331 printDBError(error) |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
332 connection.commit() |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
333 connection.close() |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
334 |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
335 def loadBoundingBoxTable(filename): |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
336 connection = sqlite3.connect(filename) |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
337 cursor = connection.cursor() |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
338 boundingBoxes = {} # list of bounding boxes for each instant |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
339 try: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
340 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
341 result = [row for row in cursor] |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
342 if len(result) > 0: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
343 cursor.execute('SELECT * FROM bounding_boxes') |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
344 #objId = -1 |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
345 for row in cursor: |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
346 #if row[0] != objId: |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
347 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
348 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
349 printDBError(error) |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
350 return boundingBoxes |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
351 connection.close() |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
352 return boundingBoxes |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
353 |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
354 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
355 ######################### |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
356 # txt files |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
357 ######################### |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
358 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
359 def openCheck(filename, option = 'r', quitting = False): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
360 '''Open file filename in read mode by default |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
361 and checks it is open''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
362 try: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
363 return open(filename, option) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
364 except IOError: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
365 print 'File %s could not be opened.' % filename |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
366 if quitting: |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
367 from sys import exit |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
368 exit() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
369 return None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
370 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
371 def readline(f, commentChar = commentChar): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
372 '''Modified readline function to skip comments.''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
373 s = f.readline() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
374 while (len(s) > 0) and s.startswith(commentChar): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
375 s = f.readline() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
376 return s.strip() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
377 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
378 def getLines(f, commentChar = commentChar): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
379 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
380 dataStrings = [] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
381 s = readline(f, commentChar) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
382 while len(s) > 0: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
383 dataStrings += [s.strip()] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
384 s = readline(f, commentChar) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
385 return dataStrings |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
386 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
387 def writeList(filename, l): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
388 f = openCheck(filename, 'w') |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
389 for x in l: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
390 f.write('{}\n'.format(x)) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
391 f.close() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
392 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
393 def loadListStrings(filename, commentChar = commentChar): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
394 f = openCheck(filename, 'r') |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
395 result = getLines(f, commentChar) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
396 f.close() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
397 return result |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
398 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
399 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentChar = commentChar): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
400 values = [] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
401 for l in loadListStrings(filename, commentChar): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
402 if l.startswith(option): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
403 values.append(l.split(delimiterChar)[1].strip()) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
404 return values |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
405 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
406 class FakeSecHead(object): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
407 '''Add fake section header [asection] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
408 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
409 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
410 use read_file in Python 3.2+ |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
411 ''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
412 def __init__(self, fp): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
413 self.fp = fp |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
414 self.sechead = '[main]\n' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
415 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
416 def readline(self): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
417 if self.sechead: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
418 try: return self.sechead |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
419 finally: self.sechead = None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
420 else: return self.fp.readline() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
421 |
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
422 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None): |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
423 '''Reads data from VISSIM .fzp trajectory file |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
424 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
425 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
426 so simulationStepsPerTimeUnit should be 5, |
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
427 so that all times correspond to the number of the simulation step (and can be stored as integers) |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
428 |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
429 Assumed to be sorted over time''' |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
430 objects = {} # dictionary of objects index by their id |
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
431 firstInstants = {} |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
432 |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
433 infile = openCheck(filename, quitting = True) |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
434 |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
435 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
436 # skip header: 15 lines + 1 |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
437 for i in range(16): |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
438 readline(infile) |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
439 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
440 for line in infile: |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
441 data = line.strip().split(';') |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
442 objNum = int(data[1]) |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
443 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
444 s = float(data[4]) |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
445 y = float(data[5]) |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
446 lane = data[2]+'_'+data[3] |
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
447 if objNum not in firstInstants: |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
448 firstInstants[objNum] = instant |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
449 if warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant: |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
450 if nObjects < 0 or len(objects) < nObjects: |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
451 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
452 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
453 if (warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant) and objNum in objects: |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
454 objects[objNum].timeInterval.last = instant |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
455 objects[objNum].curvilinearPositions.addPosition(s, y, lane) |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
456 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
457 return objects.values() |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
458 |
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
changeset
|
459 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
460 '''Reads data from the trajectory data provided by NGSIM project |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
461 and returns the list of Feature objects''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
462 objects = [] |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
463 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
464 infile = openCheck(filename, quitting = True) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
465 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
466 def createObject(numbers): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
467 firstFrameNum = int(numbers[1]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
468 # do the geometry and usertype |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
469 |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
470 firstFrameNum = int(numbers[1]) |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
471 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
472 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
473 obj = moving.MovingObject(num = int(numbers[0]), |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
474 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
475 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
476 userType = int(numbers[10])) |
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
477 obj.userType = int(numbers[10]) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
478 obj.laneNums = [int(numbers[13])] |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
479 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
480 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
481 obj.spaceHeadways = [float(numbers[16])] # feet |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
482 obj.timeHeadways = [float(numbers[17])] # seconds |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
483 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
484 obj.speeds = [float(numbers[11])] |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
485 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
486 return obj |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
487 |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
488 numbers = infile.readline().strip().split() |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
489 if (len(numbers) > 0): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
490 obj = createObject(numbers) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
491 |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
492 for line in infile: |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
493 numbers = line.strip().split() |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
494 if obj.getNum() != int(numbers[0]): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
495 # check and adapt the length to deal with issues in NGSIM data |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
496 if (obj.length() != obj.positions.length()): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
497 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
498 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
499 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
500 objects.append(obj) |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
501 if (nObjects>0) and (len(objects)>=nObjects): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
502 break |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
503 obj = createObject(numbers) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
504 else: |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
505 obj.laneNums.append(int(numbers[13])) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
506 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
507 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
508 obj.speeds.append(float(numbers[11])) |
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
509 obj.precedingVehicles.append(int(numbers[14])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
510 obj.followingVehicles.append(int(numbers[15])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
511 obj.spaceHeadways.append(float(numbers[16])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
512 obj.timeHeadways.append(float(numbers[17])) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
513 |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
514 if (obj.size[0] != float(numbers[8])): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
515 print 'changed length obj %d' % (obj.getNum()) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
516 if (obj.size[1] != float(numbers[9])): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
517 print 'changed width obj %d' % (obj.getNum()) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
518 |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
519 infile.close() |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
520 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
521 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
522 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
523 '''Reads data from the trajectory data provided by NGSIM project |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
524 and converts to our current format.''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
525 if append: |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
526 out = openCheck(outFile,'a') |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
527 else: |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
528 out = openCheck(outFile,'w') |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
529 nObjectsPerType = [0,0,0] |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
530 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
531 features = loadNgsimFile(inFile, sequenceNum) |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
532 for f in features: |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
533 nObjectsPerType[f.userType-1] += 1 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
534 f.write(out) |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
535 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
536 print nObjectsPerType |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
537 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
538 out.close() |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
539 |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
540 def writePositionsToCsv(f, obj): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
541 timeInterval = obj.getTimeInterval() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
542 positions = obj.getPositions() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
543 curvilinearPositions = obj.getCurvilinearPositions() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
544 for i in xrange(int(obj.length())): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
545 p1 = positions[i] |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
546 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
547 if curvilinearPositions != None: |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
548 p2 = curvilinearPositions[i] |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
549 s += ',{},{}'.format(p2[0],p2[1]) |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
550 f.write(s+'\n') |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
551 |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
552 def writeTrajectoriesToCsv(filename, objects): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
553 f = openCheck(filename, 'w') |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
554 for i,obj in enumerate(objects): |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
555 writePositionsToCsv(f, obj) |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
556 f.close() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
557 |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
558 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
559 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
560 # Utils to read .ini type text files for configuration, meta data... |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
561 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
562 |
536
95276d310972
renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
563 class ProcessParameters: |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
564 '''Class for all parameters controlling data processing: input, |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
565 method parameters, etc. for tracking, classification and safety |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
566 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
567 Note: framerate is already taken into account''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
568 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
569 def loadConfigFile(self, filename): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
570 from ConfigParser import ConfigParser |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
571 from numpy import loadtxt |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
572 from os import path |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
573 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
574 config = ConfigParser() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
575 config.readfp(FakeSecHead(openCheck(filename))) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
576 self.sectionHeader = config.sections()[0] |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
577 # Tracking/display parameters |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
578 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
579 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
580 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
581 if (path.exists(self.homographyFilename)): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
582 self.homography = loadtxt(self.homographyFilename) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
583 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
584 self.homography = None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
585 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
586 if (path.exists(self.intrinsicCameraFilename)): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
587 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
588 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
589 self.intrinsicCameraMatrix = None |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
590 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
591 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
592 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
593 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
594 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
595 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
377 | 596 |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
597 # Classification parameters |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
598 |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
599 |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
600 # Safety parameters |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
601 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
602 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
603 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
604 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
605 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
606 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
607 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
608 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
609 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
610 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
611 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
612 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
613 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
614 def __init__(self, filename = None): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
615 if filename != None: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
616 self.loadConfigFile(filename) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
617 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
618 class SceneParameters: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
619 def __init__(self, config, sectionName): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
620 from ConfigParser import NoOptionError |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
621 from ast import literal_eval |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
622 try: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
623 self.sitename = config.get(sectionName, 'sitename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
624 self.databaseFilename = config.get(sectionName, 'data-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
625 self.homographyFilename = config.get(sectionName, 'homography-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
626 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
627 self.videoFilename = config.get(sectionName, 'video-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
628 self.frameRate = config.getfloat(sectionName, 'framerate') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
629 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
630 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
631 self.rotation = config.getfloat(sectionName, 'rotation') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
632 self.duration = config.getint(sectionName, 'duration') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
633 except NoOptionError as e: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
634 print(e) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
635 print('Not a section for scene meta-data') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
636 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
637 @staticmethod |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
638 def loadConfigFile(filename): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
639 from ConfigParser import ConfigParser |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
640 config = ConfigParser() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
641 config.readfp(openCheck(filename)) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
642 configDict = dict() |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
643 for sectionName in config.sections(): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
644 configDict[sectionName] = SceneParameters(config, sectionName) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
645 return configDict |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
646 |
382
ba813f148ade
development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
647 |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
648 if __name__ == "__main__": |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
649 import doctest |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
650 import unittest |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
651 suite = doctest.DocFileSuite('tests/storage.txt') |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
652 unittest.TextTestRunner().run(suite) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
653 # #doctest.testmod() |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
654 # #doctest.testfile("example.txt") |