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annotate trafficintelligence/storage.py @ 1202:059b7282aa09

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first version of kitti loader
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 16 Mar 2023 17:03:18 -0400
parents 28bf2420c412
children 7b3384a8e409
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 from pathlib import Path
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6 import shutil
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7 from copy import copy
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8 import sqlite3, logging
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9
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10 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt, floor as npfloor, ceil as npceil, linalg, int32, int64, reshape, dot, vstack, transpose, ones
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11 from pandas import read_csv, merge
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12
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13 from trafficintelligence import utils, moving, events, indicators
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14 from trafficintelligence.base import VideoFilenameAddable
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15
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16
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17 ngsimUserTypes = {'twowheels':1,
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18 'car':2,
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19 'truck':3}
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20
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21 tableNames = {'feature':'positions',
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22 'object': 'objects',
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23 'objectfeatures': 'positions'}
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24
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25 sqlite3.register_adapter(int64, lambda val: int(val))
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26 sqlite3.register_adapter(int32, lambda val: int(val))
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27
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28 #########################
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29 # Sqlite
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30 #########################
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31
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32 # utils
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33 def printDBError(error):
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34 print('DB Error: {}'.format(error))
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35
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36 def dropTables(connection, tableNames):
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37 'deletes the table with names in tableNames'
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38 try:
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39 cursor = connection.cursor()
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40 for tableName in tableNames:
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41 cursor.execute('DROP TABLE IF EXISTS '+tableName)
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42 except sqlite3.OperationalError as error:
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43 printDBError(error)
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44
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45 def deleteFromSqlite(filename, dataType):
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46 'Deletes (drops) some tables in the filename depending on type of data'
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47 if Path(filename).is_file():
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48 with sqlite3.connect(filename) as connection:
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49 if dataType == 'object':
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50 dropTables(connection, ['objects', 'objects_features'])
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51 elif dataType == 'interaction':
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52 dropTables(connection, ['interactions', 'indicators'])
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53 elif dataType == 'bb':
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54 dropTables(connection, ['bounding_boxes'])
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55 elif dataType == 'pois':
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56 dropTables(connection, ['gaussians2d', 'objects_pois'])
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57 elif dataType == 'prototype':
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58 dropTables(connection, ['prototypes', 'objects_prototypes', 'features_prototypes'])
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59 else:
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60 print('Unknown data type {} to delete from database'.format(dataType))
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61 else:
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62 print('{} does not exist'.format(filename))
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63
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64 def tableExists(connection, tableName):
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65 'indicates if the table exists in the database'
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66 try:
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67 cursor = connection.cursor()
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68 cursor.execute('SELECT COUNT(*) FROM SQLITE_MASTER WHERE type = \'table\' AND name = \''+tableName+'\'')
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69 return cursor.fetchone()[0] == 1
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70 except sqlite3.OperationalError as error:
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71 printDBError(error)
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72
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73 def tableNames(filename):
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74 'Lists the names of the tables in the SQLite file'
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75 if Path(filename).is_file():
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76 with sqlite3.connect(filename) as connection:
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77 try:
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78 cursor = connection.cursor()
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79 cursor.execute('SELECT name FROM sqlite_master WHERE type = \'table\'')
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80 return [row[0] for row in cursor]
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81 except sqlite3.OperationalError as error:
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82 printDBError(error)
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83 return []
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84
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85 def createTrajectoryTable(cursor, tableName):
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86 if tableName.endswith('positions') or tableName.endswith('velocities'):
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87 cursor.execute("CREATE TABLE IF NOT EXISTS "+tableName+" (trajectory_id INTEGER, frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))")
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88 else:
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89 print('Unallowed name {} for trajectory table'.format(tableName))
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90
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91 def createObjectsTable(cursor):
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92 cursor.execute("CREATE TABLE IF NOT EXISTS objects (object_id INTEGER, road_user_type INTEGER, n_objects INTEGER, PRIMARY KEY(object_id))")
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93
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94 def createAssignmentTable(cursor, objectType1, objectType2, objectIdColumnName1, objectIdColumnName2):
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95 cursor.execute("CREATE TABLE IF NOT EXISTS "+objectType1+"s_"+objectType2+"s ("+objectIdColumnName1+" INTEGER, "+objectIdColumnName2+" INTEGER, PRIMARY KEY("+objectIdColumnName1+","+objectIdColumnName2+"))")
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96
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97 def createObjectsFeaturesTable(cursor):
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98 cursor.execute("CREATE TABLE IF NOT EXISTS objects_features (object_id INTEGER, trajectory_id INTEGER, PRIMARY KEY(object_id, trajectory_id))")
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100
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101 def createCurvilinearTrajectoryTable(cursor):
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102 cursor.execute("CREATE TABLE IF NOT EXISTS curvilinear_positions (trajectory_id INTEGER, frame_number INTEGER, s_coordinate REAL, y_coordinate REAL, lane TEXT, PRIMARY KEY(trajectory_id, frame_number))")
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103
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104 def createFeatureCorrespondenceTable(cursor):
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105 cursor.execute('CREATE TABLE IF NOT EXISTS feature_correspondences (trajectory_id INTEGER, source_dbname VARCHAR, db_trajectory_id INTEGER, PRIMARY KEY(trajectory_id))')
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106
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107 def createInteractionTable(cursor):
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108 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))')
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109
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110 def createIndicatorTable(cursor):
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111 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))')
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112
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113 def insertTrajectoryQuery(tableName):
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114 return "INSERT INTO "+tableName+" VALUES (?,?,?,?)"
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115
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116 def insertObjectQuery():
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117 return "INSERT INTO objects VALUES (?,?,?)"
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118
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119 def insertObjectFeatureQuery():
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120 return "INSERT INTO objects_features VALUES (?,?)"
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121
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122 def createIndex(connection, tableName, columnName, unique = False):
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123 '''Creates an index for the column in the table
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124 I will make querying with a condition on this column faster'''
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125 try:
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126 cursor = connection.cursor()
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127 s = "CREATE "
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128 if unique:
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129 s += "UNIQUE "
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130 cursor.execute(s+"INDEX IF NOT EXISTS "+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")")
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diff changeset
131 connection.commit()
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132 #connection.close()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
133 except sqlite3.OperationalError as error:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
134 printDBError(error)
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diff changeset
135
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
136 def getNumberRowsTable(connection, tableName, columnName = None):
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diff changeset
137 '''Returns the number of rows for the table
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diff changeset
138 If columnName is not None, means we want the number of distinct values for that column
d6c69d3d09e5 developing python performance tests for SQLite
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139 (otherwise, we can just count(*))'''
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
140 try:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
141 cursor = connection.cursor()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
142 if columnName is None:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
143 cursor.execute("SELECT COUNT(*) from "+tableName)
711
523eda2fafd4 added function to create index
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diff changeset
144 else:
714
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diff changeset
145 cursor.execute("SELECT COUNT(DISTINCT "+columnName+") from "+tableName)
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diff changeset
146 return cursor.fetchone()[0]
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
147 except sqlite3.OperationalError as error:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
148 printDBError(error)
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diff changeset
149
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150 def getMinMax(connection, tableName, columnName, minmax):
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151 '''Returns max/min or both for given column in table
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152 minmax must be string max, min or minmax'''
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diff changeset
153 try:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
154 cursor = connection.cursor()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
155 if minmax == 'min' or minmax == 'max':
d6c69d3d09e5 developing python performance tests for SQLite
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156 cursor.execute("SELECT "+minmax+"("+columnName+") from "+tableName)
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diff changeset
157 elif minmax == 'minmax':
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diff changeset
158 cursor.execute("SELECT MIN("+columnName+"), MAX("+columnName+") from "+tableName)
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159 else:
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160 print("Argument minmax unknown: {}".format(minmax))
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161 return cursor.fetchone()[0]
711
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diff changeset
162 except sqlite3.OperationalError as error:
523eda2fafd4 added function to create index
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diff changeset
163 printDBError(error)
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164
693
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165 def getObjectCriteria(objectNumbers):
585
aab2242ea88c minor modification of objectNumbers to None
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166 if objectNumbers is None:
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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167 query = ''
aab2242ea88c minor modification of objectNumbers to None
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diff changeset
168 elif type(objectNumbers) == int:
852
45a53542e046 updated unnecessary complicated query
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
169 query = '<= {0}'.format(objectNumbers-1)
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>
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diff changeset
170 elif type(objectNumbers) == list:
693
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diff changeset
171 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')'
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
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diff changeset
172 else:
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
173 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers)))
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
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diff changeset
174 query = ''
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
175 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>
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176
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diff changeset
177 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None, timeStep = None):
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
178 '''Loads trajectories (in the general sense) from the given table
93c26e45efd8 modified functions to read velocities from sqlite database
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parents: 235
diff changeset
179 can be positions or velocities
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
180
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
181 returns a moving object'''
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
182 cursor = connection.cursor()
204
966c2cd2bd9f added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 203
diff changeset
183
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
184 try:
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
185 objectCriteria = getObjectCriteria(objectNumbers)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
186 queryStatement = None
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
187 if trajectoryType == 'feature':
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
188 queryStatement = 'SELECT * from '+tableName
834
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diff changeset
189 if objectNumbers is not None and timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
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diff changeset
190 queryStatement += ' WHERE trajectory_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
191 elif objectNumbers is not None:
750
6049e9b6902c work in progress storage vissim sqlite
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diff changeset
192 queryStatement += ' WHERE trajectory_id '+objectCriteria
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
193 elif timeStep is not None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
194 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
195 queryStatement += ' ORDER BY trajectory_id, frame_number'
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
196 elif trajectoryType == 'object':
750
6049e9b6902c work in progress storage vissim sqlite
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diff changeset
197 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'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
198 if objectNumbers is not None:
834
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diff changeset
199 queryStatement += ' AND OF.object_id '+objectCriteria
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diff changeset
200 if timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
201 queryStatement += ' AND P.frame_number%{} = 0'.format(timeStep)
712
21aeadcfbabb added script to test SQLite performance and impact of indices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 711
diff changeset
202 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number'
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
203 elif trajectoryType in ['bbtop', 'bbbottom']:
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
204 if trajectoryType == 'bbtop':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
205 corner = 'top_left'
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
206 elif trajectoryType == 'bbbottom':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
207 corner = 'bottom_right'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
208 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName
834
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
209 if objectNumbers is not None and timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
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parents: 831
diff changeset
210 queryStatement += ' WHERE object_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
211 elif objectNumbers is not None:
712
21aeadcfbabb added script to test SQLite performance and impact of indices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 711
diff changeset
212 queryStatement += ' WHERE object_id '+objectCriteria
834
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
213 elif timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
214 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
215 queryStatement += ' ORDER BY object_id, frame_number'
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
216 else:
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
217 print('Unknown trajectory type {}'.format(trajectoryType))
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
218 if queryStatement is not None:
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
219 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
220 logging.debug(queryStatement)
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
221 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
222 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
223 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
224
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
225 objId = -1
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
226 obj = None
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
227 objects = []
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
228 for row in cursor:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
229 if row[0] != objId:
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
230 objId = row[0]
834
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parents: 831
diff changeset
231 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
143
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
232 objects.append(obj)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
233 elif obj is not None:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
234 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
235 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
236 else:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
237 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
238 obj.positions.addPositionXY(row[2],row[3])
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
239
834
119c4efe6398 added option to load subsampled trajectories
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parents: 831
diff changeset
240 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
241 objects.append(obj)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
242 elif obj is not None:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
243 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
244
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
245 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
246
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
247 def loadObjectAttributesFromTable(cursor, objectNumbers, loadNObjects = False):
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
248 objectCriteria = getObjectCriteria(objectNumbers)
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
249 queryStatement = 'SELECT object_id, road_user_type'
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
250 if loadNObjects:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
251 queryStatement += ', n_objects'
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
252 queryStatement += ' FROM objects'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
253 if objectNumbers is not None:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
254 queryStatement += ' WHERE object_id '+objectCriteria
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
255 cursor.execute(queryStatement)
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
256 attributes = {}
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
257 if loadNObjects:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
258 for row in cursor:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
259 attributes[row[0]] = row[1:]
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
260 else:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
261 for row in cursor:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
262 attributes[row[0]] = row[1]
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
263 return attributes
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
264
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
265 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False, timeStep = None, nLongestFeaturesPerObject = None):
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
266 '''Loads the trajectories (in the general sense,
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
267 either features, objects (feature groups), longest features per object, or bounding box series)
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
268 types are only feature or object
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
269 if object, features can be loaded with withFeatures or nLongestObjectFeatures used to select the n longest features
1040
20799ac9524e integrating code of learn-motion-patterns in storage.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1039
diff changeset
270
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
271 The number loaded is either the first objectNumbers objects,
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
272 or the indices in objectNumbers from the database'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
273 objects = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
274 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
275 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
276 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
277 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers, timeStep)
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
278
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
279 if len(objectVelocities) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
280 for o,v in zip(objects, objectVelocities):
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
281 if o.getNum() == v.getNum():
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
282 o.velocities = v.positions
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
283 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
284 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
285 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
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
286
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
287 if trajectoryType == 'object':
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
288 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
289 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
290 # attribute feature numbers to objects
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
291 queryStatement = 'SELECT trajectory_id, object_id FROM objects_features'
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
292 if objectNumbers is not None:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
293 queryStatement += ' WHERE object_id '+getObjectCriteria(objectNumbers)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
294 queryStatement += ' ORDER BY object_id' # order is important to group all features per object
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
295 logging.debug(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
296 cursor.execute(queryStatement)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
297
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
298 featureNumbers = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
299 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
300 objId = row[1]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
301 if objId not in featureNumbers:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
302 featureNumbers[objId] = [row[0]]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
303 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
304 featureNumbers[objId].append(row[0])
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
305
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
306 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
307 obj.featureNumbers = featureNumbers[obj.getNum()]
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
308
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
309 # load userType
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
310 attributes = loadObjectAttributesFromTable(cursor, objectNumbers, True)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
311 for obj in objects:
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
312 userType, nObjects = attributes[obj.getNum()]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
313 obj.setUserType(userType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
314 obj.setNObjects(nObjects)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
315
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
316 # add features
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
317 if withFeatures:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
318 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
319 obj.features = loadTrajectoriesFromSqlite(filename, 'feature', obj.featureNumbers, timeStep = timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
320 elif nLongestFeaturesPerObject is not None:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
321 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
322 queryStatement = 'SELECT trajectory_id, max(frame_number)-min(frame_number) AS length FROM positions WHERE trajectory_id '+getObjectCriteria(obj.featureNumbers)+' GROUP BY trajectory_id ORDER BY length DESC'
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
323 logging.debug(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
324 cursor.execute(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
325 obj.features = loadTrajectoriesFromSqlite(filename, 'feature', [row[0] for i,row in enumerate(cursor) if i<nLongestFeaturesPerObject], timeStep = timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
326
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
327 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
328 printDBError(error)
1178
ee3eaf902b83 minor improvement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1177
diff changeset
329 else:
ee3eaf902b83 minor improvement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1177
diff changeset
330 print('Impossible to load from non-existing file '+filename)
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
331 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
332
910
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
333 def loadObjectFeatureFrameNumbers(filename, objectNumbers = None):
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
334 'Loads the feature frame numbers for each object'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
335 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
336 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
337 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
338 queryStatement = 'SELECT OF.object_id, TL.trajectory_id, TL.length FROM (SELECT trajectory_id, max(frame_number)-min(frame_number) AS length FROM positions GROUP BY trajectory_id) TL, objects_features OF WHERE TL.trajectory_id = OF.trajectory_id'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
339 if objectNumbers is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
340 queryStatement += ' AND object_id '+getObjectCriteria(objectNumbers)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
341 queryStatement += ' ORDER BY OF.object_id, TL.length DESC'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
342 logging.debug(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
343 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
344 objectFeatureNumbers = {}
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
345 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
346 objId = row[0]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
347 if objId in objectFeatureNumbers:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
348 objectFeatureNumbers[objId].append(row[1])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
349 else:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
350 objectFeatureNumbers[objId] = [row[1]]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
351 return objectFeatureNumbers
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
352 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
353 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
354 return None
910
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
355
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
356 def addCurvilinearTrajectoriesFromSqlite(filename, objects):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
357 '''Adds curvilinear positions (s_coordinate, y_coordinate, lane)
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
358 from a database to an existing MovingObject dict (indexed by each objects's num)'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
359 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
360 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
361
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
362 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
363 cursor.execute('SELECT * from curvilinear_positions order by trajectory_id, frame_number')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
364 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
365 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
366 return []
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
367
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
368 missingObjectNumbers = []
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
369 objNum = None
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
370 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
371 if objNum != row[0]:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
372 objNum = row[0]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
373 if objNum in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
374 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
375 else:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
376 missingObjectNumbers.append(objNum)
784
30bd0f2223b7 tweaking curvilinear trajectory loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 783
diff changeset
377 if objNum in objects:
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
378 objects[objNum].curvilinearPositions.addPositionSYL(row[2],row[3],row[4])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
379 if len(missingObjectNumbers) > 0:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
380 print('List of missing objects to attach corresponding curvilinear trajectories: {}'.format(missingObjectNumbers))
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
381
1039
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
382 def saveTrajectoriesToTable(connection, objects, trajectoryType):
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
383 'Saves trajectories in table tableName'
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
384 cursor = connection.cursor()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
385 # Parse feature and/or object structure and commit to DB
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
386 if(trajectoryType == 'feature' or trajectoryType == 'object'):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
387 # Extract features from objects
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
388 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
389 features = []
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
390 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
391 if obj.hasFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
392 features += obj.getFeatures()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
393 if len(features) == 0:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
394 print('Warning, objects have no features') # todo save centroid trajectories?
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
395 elif trajectoryType == 'feature':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
396 features = objects
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
397 # Setup feature queries
1039
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
398 createTrajectoryTable(cursor, "positions")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
399 createTrajectoryTable(cursor, "velocities")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
400 positionQuery = insertTrajectoryQuery("positions")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
401 velocityQuery = insertTrajectoryQuery("velocities")
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
402 # Setup object queries
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
403 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
404 createObjectsTable(cursor)
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
405 createObjectsFeaturesTable(cursor)
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
406 objectQuery = insertObjectQuery()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
407 objectFeatureQuery = insertObjectFeatureQuery()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
408 for feature in features:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
409 num = feature.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
410 frameNum = feature.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
411 for p in feature.getPositions():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
412 cursor.execute(positionQuery, (num, frameNum, p.x, p.y))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
413 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
414 velocities = feature.getVelocities()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
415 if velocities is not None:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
416 frameNum = feature.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
417 for v in velocities[:-1]:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
418 cursor.execute(velocityQuery, (num, frameNum, v.x, v.y))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
419 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
420 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
421 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
422 if obj.hasFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
423 for feature in obj.getFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
424 featureNum = feature.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
425 cursor.execute(objectFeatureQuery, (obj.getNum(), featureNum))
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
426 cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), obj.nObjects if hasattr(obj, 'nObjects') and obj.nObjects is not None else 1))
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
427 # Parse curvilinear position structure
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
428 elif(trajectoryType == 'curvilinear'):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
429 createCurvilinearTrajectoryTable(cursor)
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
430 curvilinearQuery = "INSERT INTO curvilinear_positions VALUES (?,?,?,?,?)"
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
431 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
432 num = obj.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
433 frameNum = obj.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
434 for p in obj.getCurvilinearPositions():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
435 cursor.execute(curvilinearQuery, (num, frameNum, p[0], p[1], p[2]))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
436 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
437 else:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
438 print('Unknown trajectory type {}'.format(trajectoryType))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
439 connection.commit()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
440
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
441 def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType):
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
442 '''Writes features, ie the trajectory positions (and velocities if exist)
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
443 with their instants to a specified sqlite file
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
444 Either feature positions (and velocities if they exist)
879
f9ea5083588e Initial commit of object DB storage update
pstaub
parents: 872
diff changeset
445 or curvilinear positions will be saved at a time'''
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
446
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
447 with sqlite3.connect(outputFilename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
448 try:
1040
20799ac9524e integrating code of learn-motion-patterns in storage.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1039
diff changeset
449 saveTrajectoriesToTable(connection, objects, trajectoryType)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
450 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
451 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
452
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
453 def setRoadUserTypes(filename, objects):
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
454 '''Saves the user types of the objects in the sqlite database stored in filename
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
455 The objects should exist in the objects table'''
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
456 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
457 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
458 for obj in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
459 cursor.execute('update objects set road_user_type = {} WHERE object_id = {}'.format(obj.getUserType(), obj.getNum()))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
460 connection.commit()
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
461
834
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
462 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None, timeStep = None):
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
463 '''Loads bounding box moving object from an SQLite
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
464 (format of SQLite output by the ground truth annotation tool
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
465 or Urban Tracker
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
466
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
467 Load descriptions?'''
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
468 objects = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
469 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
470 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
471 if objectType == 'bb':
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
472 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
473 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
474 userTypes = loadObjectAttributesFromTable(connection.cursor(), objectNumbers) # string format is same as object
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
475
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
476 for t, b in zip(topCorners, bottomCorners):
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
477 num = t.getNum()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
478 if t.getNum() == b.getNum():
1133
c4d9c270f999 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1131
diff changeset
479 annotation = moving.BBMovingObject(num, t, b, t.getTimeInterval(), userTypes[num])
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
480 objects.append(annotation)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
481 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
482 print ('Unknown type of bounding box {}'.format(objectType))
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
483 return objects
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
484
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
485 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
486 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
487 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
488
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
489 def saveInteractionsToSqlite(filename, interactions):
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
490 'Saves the interactions in the table'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
491 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
492 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
493 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
494 createInteractionTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
495 for inter in interactions:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
496 saveInteraction(cursor, inter)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
497 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
498 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
499 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
500
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
501 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
502 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
503 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
504 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
505
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
506 def saveIndicatorsToSqlite(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
507 'Saves the indicator values in the table'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
508 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
509 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
510 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
511 createInteractionTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
512 createIndicatorTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
513 for inter in interactions:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
514 saveInteraction(cursor, inter)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
515 for indicatorName in indicatorNames:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
516 indicator = inter.getIndicator(indicatorName)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
517 if indicator is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
518 saveIndicator(cursor, inter.getNum(), indicator)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
519 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
520 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
521 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
522
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
523 def loadInteractionsFromSqlite(filename):
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
524 '''Loads interaction and their indicators
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
525
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
526 TODO choose the interactions to load'''
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
527 interactions = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
528 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
529 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
530 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
531 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
532 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, IND.frame_number')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
533 interactionNum = -1
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
534 indicatorTypeNum = -1
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
535 tmpIndicators = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
536 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
537 if row[0] != interactionNum:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
538 interactionNum = row[0]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
539 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2]))
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
540 interactions[-1].indicators = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
541 if indicatorTypeNum != row[5] or row[0] != interactionNum:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
542 indicatorTypeNum = row[5]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
543 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
544 indicatorValues = {row[6]:row[7]}
1182
0e5d37b0b9ff bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1178
diff changeset
545 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.mostSevereIsMinIndicators)
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
546 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
547 indicatorValues[row[6]] = row[7]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
548 interactions[-1].indicators[indicatorName].timeInterval.last = row[6]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
549 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
550 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
551 return []
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
552 return interactions
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
553 # load first and last object instants
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
554 # 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
555
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
556 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
557 '''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
558 '''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
559 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
560 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
561 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
562 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))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
563 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
564 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
565 '(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])+
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
566 'GROUP BY object_id, frame_number')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
567 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
568 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
569 connection.commit()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
570
586
ff4f0ce46ca6 modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 585
diff changeset
571 def loadBoundingBoxTableForDisplay(filename):
647
458890c0437c cleaned functions to lead bounding boxes (for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 646
diff changeset
572 '''Loads bounding boxes from bounding_boxes table for display over trajectories'''
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
573 boundingBoxes = {} # list of bounding boxes for each instant
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
574 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
575 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
576 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
577 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
578 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
579 result = cursor.fetchall()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
580 if len(result) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
581 cursor.execute('SELECT * FROM bounding_boxes')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
582 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
583 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
584 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
585 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
586 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
587
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
588 #########################
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
589 # saving and loading for scene interpretation: POIs and Prototypes
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
590 #########################
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
591
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
592 def savePrototypesToSqlite(filename, prototypes):
1033
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
593 '''save the prototypes (a prototype is defined by a filename, a number (id) and type)'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
594 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
595 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
596 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
597 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (prototype_filename VARCHAR, prototype_id INTEGER, trajectory_type VARCHAR CHECK (trajectory_type IN (\"feature\", \"object\")), nmatchings INTEGER, PRIMARY KEY (prototype_filename, prototype_id, trajectory_type))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
598 for p in prototypes:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
599 cursor.execute('INSERT INTO prototypes VALUES(?,?,?,?)', (p.getFilename(), p.getNum(), p.getTrajectoryType(), p.getNMatchings()))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
600 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
601 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
602 connection.commit()
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
603
1033
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
604 def setPrototypeMatchingsInSqlite(filename, prototypes):
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
605 '''updates the prototype matchings'''
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
606 with sqlite3.connect(filename) as connection:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
607 cursor = connection.cursor()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
608 try:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
609 for p in prototypes:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
610 if p.getNMatchings() is None:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
611 nMatchings = 'NULL'
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
612 else:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
613 nMatchings = p.getNMatchings()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
614 cursor.execute('UPDATE prototypes SET nmatchings = {} WHERE prototype_filename = \"{}\" AND prototype_id = {} AND trajectory_type = \"{}\"'.format(nMatchings, p.getFilename(), p.getNum(), p.getTrajectoryType()))
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
615 except sqlite3.OperationalError as error:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
616 printDBError(error)
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
617 connection.commit()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
618
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
619 def prototypeAssignmentNames(objectType):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
620 tableName = objectType+'s_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
621 if objectType == 'feature':
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
622 #tableName = 'features_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
623 objectIdColumnName = 'trajectory_id'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
624 elif objectType == 'object':
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
625 #tableName = 'objects_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
626 objectIdColumnName = 'object_id'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
627 return tableName, objectIdColumnName
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
628
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
629 def savePrototypeAssignmentsToSqlite(filename, objectNumbers, objectType, labels, prototypes):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
630 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
631 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
632 try:
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
633 tableName, objectIdColumnName = prototypeAssignmentNames(objectType)
979
cc89267b5ff9 work on learning and assigning
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
634 cursor.execute('CREATE TABLE IF NOT EXISTS '+tableName+' ('+objectIdColumnName+' INTEGER, prototype_filename VARCHAR, prototype_id INTEGER, trajectory_type VARCHAR CHECK (trajectory_type IN (\"feature\", \"object\")), PRIMARY KEY('+objectIdColumnName+', prototype_filename, prototype_id, trajectory_type))')
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
635 for objNum, label in zip(objectNumbers, labels):
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
636 if label >=0:
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
637 proto = prototypes[label]
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
638 cursor.execute('INSERT INTO '+tableName+' VALUES(?,?,?,?)', (objNum, proto.getFilename(), proto.getNum(), proto.getTrajectoryType()))
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
639 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
640 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
641 connection.commit()
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
642
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
643 def loadPrototypeAssignmentsFromSqlite(filename, objectType):
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
644 prototypeAssignments = {}
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
645 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
646 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
647 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
648 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
649 tableName, objectIdColumnName = prototypeAssignmentNames(objectType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
650 cursor.execute('SELECT * FROM '+tableName)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
651 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
652 p = moving.Prototype(row[1], row[2], row[3])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
653 if p in prototypeAssignments:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
654 prototypeAssignments[p].append(row[0])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
655 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
656 prototypeAssignments[p] = [row[0]]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
657 return prototypeAssignments
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
658 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
659 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
660 return prototypeAssignments
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
661
920
499154254f37 improved prototype loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 919
diff changeset
662 def loadPrototypesFromSqlite(filename, withTrajectories = True):
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
663 'Loads prototype ids and matchings (if stored)'
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
664 prototypes = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
665 if Path(filename).is_file():
1143
8ac52ebff5f7 avoid using chdir
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1141
diff changeset
666 parentPath = Path(filename).resolve().parent
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
667 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
668 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
669 objects = []
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
670 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
671 cursor.execute('SELECT * FROM prototypes')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
672 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
673 prototypes.append(moving.Prototype(row[0], row[1], row[2], row[3]))
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
674 if withTrajectories:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
675 for p in prototypes:
1143
8ac52ebff5f7 avoid using chdir
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1141
diff changeset
676 p.setMovingObject(loadTrajectoriesFromSqlite(str(parentPath/p.getFilename()), p.getTrajectoryType(), [p.getNum()])[0])
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
677 # loadingInformation = {} # complicated slightly optimized
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
678 # for p in prototypes:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
679 # dbfn = p.getFilename()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
680 # trajType = p.getTrajectoryType()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
681 # if (dbfn, trajType) in loadingInformation:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
682 # loadingInformation[(dbfn, trajType)].append(p)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
683 # else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
684 # loadingInformation[(dbfn, trajType)] = [p]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
685 # for k, v in loadingInformation.iteritems():
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
686 # objects += loadTrajectoriesFromSqlite(k[0], k[1], [p.getNum() for p in v])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
687 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
688 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
689 if len(set([p.getTrajectoryType() for p in prototypes])) > 1:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
690 print('Different types of prototypes in database ({}).'.format(set([p.getTrajectoryType() for p in prototypes])))
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
691 return prototypes
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
692
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
693 def savePOIsToSqlite(filename, gmm, gmmType, gmmId):
871
6db83beb5350 work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 862
diff changeset
694 '''Saves a Gaussian mixture model (of class sklearn.mixture.GaussianMixture)
6db83beb5350 work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 862
diff changeset
695 gmmType is a type of GaussianMixture, learnt either from beginnings or ends of trajectories'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
696 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
697 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
698 if gmmType not in ['beginning', 'end']:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
699 print('Unknown POI type {}. Exiting'.format(gmmType))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
700 import sys
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
701 sys.exit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
702 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
703 cursor.execute('CREATE TABLE IF NOT EXISTS gaussians2d (poi_id INTEGER, id INTEGER, type VARCHAR, x_center REAL, y_center REAL, covariance VARCHAR, covariance_type VARCHAR, weight, precisions_cholesky VARCHAR, PRIMARY KEY(poi_id, id))')
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
704 for i in range(gmm.n_components):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
705 cursor.execute('INSERT INTO gaussians2d VALUES(?,?,?,?,?,?,?,?,?)', (gmmId, i, gmmType, gmm.means_[i][0], gmm.means_[i][1], str(gmm.covariances_[i].tolist()), gmm.covariance_type, gmm.weights_[i], str(gmm.precisions_cholesky_[i].tolist())))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
706 connection.commit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
707 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
708 printDBError(error)
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
709
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
710 def savePOIAssignmentsToSqlite(filename, objects):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
711 'save the od fields of objects'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
712 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
713 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
714 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
715 cursor.execute('CREATE TABLE IF NOT EXISTS objects_pois (object_id INTEGER, origin_poi_id INTEGER, destination_poi_id INTEGER, PRIMARY KEY(object_id))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
716 for o in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
717 cursor.execute('INSERT INTO objects_pois VALUES(?,?,?)', (o.getNum(), o.od[0], o.od[1]))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
718 connection.commit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
719 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
720 printDBError(error)
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
721
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
722 def loadPOIsFromSqlite(filename):
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
723 'Loads all 2D Gaussians in the database'
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
724 from sklearn import mixture # todo if not avalaible, load data in duck-typed class with same fields
872
c70adaeeddf5 solved issue with latest version of scikit-learn
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 871
diff changeset
725 from ast import literal_eval
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
726 pois = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
727 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
728 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
729 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
730 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
731 cursor.execute('SELECT * from gaussians2d')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
732 gmmId = None
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
733 gmm = []
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
734 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
735 if gmmId is None or row[0] != gmmId:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
736 if len(gmm) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
737 tmp = mixture.GaussianMixture(len(gmm), covarianceType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
738 tmp.means_ = array([gaussian['mean'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
739 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
740 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
741 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
742 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
743 pois.append(tmp)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
744 gaussian = {'type': row[2],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
745 'mean': row[3:5],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
746 'covar': array(literal_eval(row[5])),
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
747 'weight': row[7],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
748 'precisions': array(literal_eval(row[8]))}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
749 gmm = [gaussian]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
750 covarianceType = row[6]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
751 gmmId = row[0]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
752 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
753 gmm.append({'type': row[2],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
754 'mean': row[3:5],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
755 'covar': array(literal_eval(row[5])),
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
756 'weight': row[7],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
757 'precisions': array(literal_eval(row[8]))})
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
758 if len(gmm) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
759 tmp = mixture.GaussianMixture(len(gmm), covarianceType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
760 tmp.means_ = array([gaussian['mean'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
761 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
762 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
763 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
764 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
765 pois.append(tmp)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
766 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
767 printDBError(error)
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
768 return pois
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
769
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
770 #########################
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
771 # saving and loading for scene interpretation (Mohamed Gomaa Mohamed's PhD)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
772 #########################
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
773
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
774 def writePrototypesToSqlite(prototypes,nMatching, outputFilename):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
775 ''' prototype dataset is a dictionary with keys== routes, values== prototypes Ids '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
776 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
777 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
778
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
779 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))')
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
780
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
781 for route in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
782 if prototypes[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
783 for i in prototypes[route]:
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
784 cursor.execute('insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)',(i,route[0],route[1],nMatching[route][i]))
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
785
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
786 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
787 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
788
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
789 def readPrototypesFromSqlite(filename):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
790 '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
791 This function loads the prototype file in the database
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
792 It returns a dictionary for prototypes for each route and nMatching
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
793 '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
794 prototypes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
795 nMatching={}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
796
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
797 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
798 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
799
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
800 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
801 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
802 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
803 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
804 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
805
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
806 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
807 route=(row[1],row[2])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
808 if route not in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
809 prototypes[route]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
810 prototypes[route].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
811 nMatching[row[0]]=row[3]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
812
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
813 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
814 return prototypes,nMatching
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
815
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
816 def writeLabelsToSqlite(labels, outputFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
817 """ labels is a dictionary with keys: routes, values: prototypes Ids
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
818 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
819 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
820 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
821
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
822 cursor.execute("CREATE TABLE IF NOT EXISTS labels (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
823
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
824 for route in labels:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
825 if labels[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
826 for i in labels[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
827 for j in labels[route][i]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
828 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
829
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
830 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
831 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
832
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
833 def loadLabelsFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
834 labels = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
835
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
836 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
837 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
838
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
839 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
840 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
841 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
842 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
843 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
844
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
845 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
846 route=(row[1],row[2])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
847 p=row[3]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
848 if route not in labels:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
849 labels[route]={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
850 if p not in labels[route]:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
851 labels[route][p]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
852 labels[route][p].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
853
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
854 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
855 return labels
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
856
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
857 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
858 """ to match the format of second layer prototypes"""
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
859 connection = sqlite3.connect(outFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
860 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
861
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
862 cursor.execute("CREATE TABLE IF NOT EXISTS speedprototypes (spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
863
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
864 for route in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
865 if prototypes[route]!={}:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
866 for i in prototypes[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
867 if prototypes[route][i]!= []:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
868 for j in prototypes[route][i]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
869 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j]))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
870
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
871 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
872 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
873
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
874 def loadSpeedPrototypeFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
875 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
876 This function loads the prototypes table in the database of name <filename>.
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
877 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
878 prototypes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
879 nMatching={}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
880 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
881 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
882
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
883 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
884 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
885 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
886 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
887 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
888
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
889 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
890 route=(row[2],row[3])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
891 if route not in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
892 prototypes[route]={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
893 if row[1] not in prototypes[route]:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
894 prototypes[route][row[1]]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
895 prototypes[route][row[1]].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
896 nMatching[row[0]]=row[4]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
897
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
898 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
899 return prototypes,nMatching
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
900
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
901
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
902 def writeRoutesToSqlite(Routes, outputFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
903 """ This function writes the activity path define by start and end IDs"""
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
904 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
905 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
906
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
907 cursor.execute("CREATE TABLE IF NOT EXISTS routes (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
908
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
909 for route in Routes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
910 if Routes[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
911 for i in Routes[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
912 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1]))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
913
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
914 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
915 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
916
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
917 def loadRoutesFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
918 Routes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
919
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
920 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
921 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
922
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
923 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
924 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
925 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
926 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
927 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
928
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
929 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
930 route=(row[1],row[2])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
931 if route not in Routes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
932 Routes[route]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
933 Routes[route].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
934
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
935 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
936 return Routes
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
937
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
938 def setRoutes(filename, objects):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
939 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
940 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
941 for obj in objects:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
942 cursor.execute('update objects set startRouteID = {} WHERE object_id = {}'.format(obj.startRouteID, obj.getNum()))
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
943 cursor.execute('update objects set endRouteID = {} WHERE object_id = {}'.format(obj.endRouteID, obj.getNum()))
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
944 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
945 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
946
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
947 #########################
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
948 # 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
949 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
950
1131
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
951 def loadCSVs(filenames, **kwargs):
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
952 '''Loads all the data from the filenames (eg from glob) and returns a concatenated dataframe'''
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
953 data = read_csv(filenames[0], **kwargs)
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
954 for f in filenames[1:]:
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
955 data = data.append(read_csv(filenames[0], **kwargs))
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
956 return data
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
957
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
958 def saveList(filename, l):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
959 f = utils.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
960 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
961 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
962 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
963
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
964 def loadListStrings(filename, commentCharacters = utils.commentChar):
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
965 f = utils.openCheck(filename, 'r')
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
966 result = utils.getLines(f, commentCharacters)
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
967 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
968 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
969
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
970 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = utils.commentChar):
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
971 values = []
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
972 for l in loadListStrings(filename, commentCharacters):
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
973 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
974 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
975 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
976
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
977 def addSectionHeader(propertiesFile, headerName = 'main'):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
978 '''Add fake section header
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
979
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
980 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
981 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
982 '''
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
983 yield '[{}]\n'.format(headerName)
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
984 for line in propertiesFile:
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
985 yield line
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
986
892
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
987 def loadPemsTraffic(filename):
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
988 '''Loads traffic data downloaded from the http://pems.dot.ca.gov clearinghouse
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
989 into pandas dataframe'''
1095
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
990 data=read_csv(filename, nrows = 3)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
991 headerNames = ['time', 'station', 'district', 'freeway', 'direction', 'lanetype', 'length', 'nsamples', 'pctobserved', 'totalflow', 'occupancy', 'speed'] # default for 5 min
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
992 nLanes = int((len(data.columns)-len(headerNames))/5)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
993 for i in range(1, nLanes+1):
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
994 headerNames += ['nsamples{}'.format(i), 'flow{}'.format(i), 'occupancy{}'.format(i), 'speed{}'.format(i), 'pctobserved{}'.format(i)]
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
995 return read_csv(filename, names = headerNames)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
996
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
997 def generatePDLaneColumn(data):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
998 data['LANE'] = data['LANE\\LINK\\NO'].astype(str)+'_'+data['LANE\\INDEX'].astype(str)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
999
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1000 def convertTrajectoriesVissimToSqlite(filename):
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1001 '''Relies on a system call to sqlite3
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1002 sqlite3 [file.sqlite] < import_fzp.sql'''
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1003 sqlScriptFilename = "import_fzp.sql"
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1004 # create sql file
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1005 out = utils.openCheck(sqlScriptFilename, "w")
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1006 out.write(".separator \";\"\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1007 "CREATE TABLE IF NOT EXISTS curvilinear_positions (t REAL, trajectory_id INTEGER, link_id INTEGER, lane_id INTEGER, s_coordinate REAL, y_coordinate REAL, speed REAL, PRIMARY KEY (t, trajectory_id));\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1008 ".import "+filename+" curvilinear_positions\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1009 "DELETE FROM curvilinear_positions WHERE trajectory_id IS NULL OR trajectory_id = \"NO\";\n")
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1010 out.close()
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1011 # system call
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
1012 from subprocess import run
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1013 out = utils.openCheck("err.log", "w")
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
1014 run("sqlite3 "+utils.removeExtension(filename)+".sqlite < "+sqlScriptFilename, stderr = out)
753
3d48e34db846 switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 752
diff changeset
1015 out.close()
3d48e34db846 switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 752
diff changeset
1016 shutil.os.remove(sqlScriptFilename)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1017
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1018 def loadObjectNumbersInLinkFromVissimFile(filename, linkIds):
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1019 '''Finds the ids of the objects that go through any of the link in the list linkIds'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1020 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1021 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1022 queryStatement = 'SELECT DISTINCT trajectory_id FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+')'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1023 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1024 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1025 return [row[0] for row in cursor]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1026 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1027 printDBError(error)
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1028
759
a05b70f307dd added function to count vehicles per VISSIM link
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 756
diff changeset
1029 def getNObjectsInLinkFromVissimFile(filename, linkIds):
a05b70f307dd added function to count vehicles per VISSIM link
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 756
diff changeset
1030 '''Returns the number of objects that traveled through the link ids'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1031 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1032 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1033 queryStatement = 'SELECT link_id, COUNT(DISTINCT trajectory_id) FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+') GROUP BY link_id'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1034 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1035 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1036 return {row[0]:row[1] for row in cursor}
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1037 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1038 printDBError(error)
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1039
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1040 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, objectNumbers = None, warmUpLastInstant = None, usePandas = False, nDecimals = 2, lowMemory = True):
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1041 '''Reads data from VISSIM .fzp trajectory file
755
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1042 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM (second)
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1043 for example, there seems to be 10 simulation steps per simulated second in VISSIM,
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1044 so simulationStepsPerTimeUnit should be 10,
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
1045 so that all times correspond to the number of the simulation step (and can be stored as integers)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1046
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1047 Objects positions will be considered only after warmUpLastInstant
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1048 (if the object has no such position, it won't be loaded)
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1049
752
14963a9c3b09 debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 751
diff changeset
1050 Assumed to be sorted over time
14963a9c3b09 debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 751
diff changeset
1051 Warning: if reading from SQLite a limited number of objects, objectNumbers will be the maximum object id'''
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1052 objects = {} # dictionary of objects index by their id
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1053
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1054 if usePandas:
718
2cd245cb780d added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 714
diff changeset
1055 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, low_memory = lowMemory)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1056 generatePDLaneColumn(data)
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1057 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1058 if warmUpLastInstant is not None:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1059 data = data[data['TIME']>=warmUpLastInstant]
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1060 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False)
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1061 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax})
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1062 for row_index, row in instants.iterrows():
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1063 objNum = int(row['NO'])
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1064 tmp = data[data['NO'] == objNum]
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1065 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last']), nObjects = 1)
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1066 # positions should be rounded to nDecimals decimals only
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1067 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist())
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1068 if objectNumbers is not None and objectNumbers > 0 and len(objects) >= objectNumbers:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1069 return list(objects.values())
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1070 else:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1071 if filename.endswith(".fzp"):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1072 inputfile = utils.openCheck(filename, quitting = True)
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1073 line = utils.readline(inputfile, '*$')
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1074 while len(line) > 0:#for line in inputfile:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1075 data = line.strip().split(';')
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1076 objNum = int(data[1])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1077 instant = float(data[0])*simulationStepsPerTimeUnit
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1078 s = float(data[4])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1079 y = float(data[5])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1080 lane = data[2]+'_'+data[3]
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1081 if objNum not in objects:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1082 if warmUpLastInstant is None or instant >= warmUpLastInstant:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1083 if objectNumbers is None or len(objects) < objectNumbers:
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1084 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant), nObjects = 1)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1085 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1086 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1087 objects[objNum].timeInterval.last = instant
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1088 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1089 line = utils.readline(inputfile, '*$')
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1090 elif filename.endswith(".sqlite"):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1091 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1092 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1093 queryStatement = 'SELECT t, trajectory_id, link_id, lane_id, s_coordinate, y_coordinate FROM curvilinear_positions'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1094 if objectNumbers is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1095 queryStatement += ' WHERE trajectory_id '+getObjectCriteria(objectNumbers)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1096 queryStatement += ' ORDER BY trajectory_id, t'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1097 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1098 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1099 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1100 objNum = row[1]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1101 instant = row[0]*simulationStepsPerTimeUnit
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1102 s = row[4]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1103 y = row[5]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1104 lane = '{}_{}'.format(row[2], row[3])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1105 if objNum not in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1106 if warmUpLastInstant is None or instant >= warmUpLastInstant:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1107 if objectNumbers is None or len(objects) < objectNumbers:
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1108 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant), nObjects = 1)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1109 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1110 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1111 objects[objNum].timeInterval.last = instant
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1112 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1113 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1114 printDBError(error)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1115 else:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1116 print("File type of "+filename+" not supported (only .sqlite and .fzp files)")
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1117 return list(objects.values())
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1118
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1119 def selectPDLanes(data, lanes = None):
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1120 '''Selects the subset of data for the right lanes
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1121
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1122 Lane format is a string 'x_y' where x is link index and y is lane index'''
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1123 if lanes is not None:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1124 if 'LANE' not in data.columns:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1125 generatePDLaneColumn(data)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1126 indices = (data['LANE'] == lanes[0])
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1127 for l in lanes[1:]:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1128 indices = indices | (data['LANE'] == l)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1129 return data[indices]
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1130 else:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1131 return data
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1132
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1133 def countStoppedVehiclesVissim(filename, lanes = None, proportionStationaryTime = 0.7):
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1134 '''Counts the number of vehicles stopped for a long time in a VISSIM trajectory file
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1135 and the total number of vehicles
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1136
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1137 Vehicles are considered finally stationary
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1138 if more than proportionStationaryTime of their total time
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1139 If lanes is not None, only the data for the selected lanes will be provided
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1140 (format as string x_y where x is link index and y is lane index)'''
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1141 if filename.endswith(".fzp"):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1142 columns = ['NO', '$VEHICLE:SIMSEC', 'POS']
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1143 if lanes is not None:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1144 columns += ['LANE\\LINK\\NO', 'LANE\\INDEX']
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1145 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns, low_memory = lowMemory)
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1146 data = selectPDLanes(data, lanes)
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1147 data.sort(['$VEHICLE:SIMSEC'], inplace = True)
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1148
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1149 nStationary = 0
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1150 nVehicles = 0
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1151 for name, group in data.groupby(['NO'], sort = False):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1152 nVehicles += 1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1153 positions = array(group['POS'])
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1154 diff = positions[1:]-positions[:-1]
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1155 if npsum(diff == 0.) >= proportionStationaryTime*(len(positions)-1):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1156 nStationary += 1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1157 elif filename.endswith(".sqlite"):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1158 # select trajectory_id, t, s_coordinate, speed from curvilinear_positions where trajectory_id between 1860 and 1870 and speed < 0.1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1159 # pb of the meaning of proportionStationaryTime in arterial network? Why proportion of existence time?
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1160 pass
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1161 else:
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1162 print("File type of "+filename+" not supported (only .sqlite and .fzp files)")
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1163
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1164 return nStationary, nVehicles
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1165
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1166 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2, lowMemory = True):
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1167 '''Counts the number of collisions per lane in a VISSIM trajectory file
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1168
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1169 To distinguish between cars passing and collision,
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1170 one checks when the sign of the position difference inverts
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1171 (if the time are closer than collisionTimeDifference)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1172 If lanes is not None, only the data for the selected lanes will be provided
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1173 (format as string x_y where x is link index and y is lane index)'''
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1174 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS'], low_memory = lowMemory)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1175 data = selectPDLanes(data, lanes)
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1176 data = data.convert_objects(convert_numeric=True)
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1177
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1178 merged = merge(data, data, how='inner', left_on=['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC'], right_on=['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC'], sort = False)
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1179 merged = merged[merged['NO_x']>merged['NO_y']]
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1180
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1181 nCollisions = 0
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1182 for name, group in merged.groupby(['LANE\\LINK\\NO', 'LANE\\INDEX', 'NO_x', 'NO_y']):
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1183 diff = group['POS_x']-group['POS_y']
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1184 # diff = group['POS_x']-group['POS_y'] # to check the impact of convert_objects and the possibility of using type conversion in read_csv or function to convert strings if any
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1185 if len(diff) >= 2 and npmin(diff) < 0 and npmax(diff) > 0:
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1186 xidx = diff[diff < 0].argmax()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1187 yidx = diff[diff > 0].argmin()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1188 if abs(group.loc[xidx, '$VEHICLE:SIMSEC'] - group.loc[yidx, '$VEHICLE:SIMSEC']) <= collisionTimeDifference:
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1189 nCollisions += 1
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1190
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1191 # select TD1.link_id, TD1.lane_id from temp.diff_positions as TD1, temp.diff_positions as TD2 where TD1.link_id = TD2.link_id and TD1.lane_id = TD2.lane_id and TD1.id1 = TD2.id1 and TD1.id2 = TD2.id2 and TD1.t = TD2.t+0.1 and TD1.diff*TD2.diff < 0; # besoin de faire un group by??
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1192 # create temp table diff_positions as select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id;
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1193 # SQL select link_id, lane_id, id1, id2, min(diff), max(diff) from (select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id) group by link_id, lane_id, id1, id2 having min(diff)*max(diff) < 0
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1194 return nCollisions
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
1195
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
1196 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
1197 '''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
1198 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1199 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1200
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1201 inputfile = utils.openCheck(filename, quitting = True)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1202
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1203 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1204 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1205 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1206
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
1207 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
1208 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
1209 #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
1210 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
1211 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
1212 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1213 userType = int(numbers[10]), nObjects = 1)
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1214 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1215 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1216 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
1217 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
1218 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1219 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
1220 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
1221 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
1222 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
1223 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1224
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1225 numbers = utils.readline(inputfile).strip().split()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1226 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1227 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1228
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1229 for line in inputfile:
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1230 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
1231 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
1232 # 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
1233 if (obj.length() != obj.positions.length()):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1234 print('length pb with object {} ({},{})'.format(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
1235 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
1236 #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
1237 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1238 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
1239 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1240 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1241 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
1242 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
1243 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 541
diff changeset
1244 obj.curvilinearPositions.addPositionSYL(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
1245 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1246 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1247 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1248 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1249 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1250
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
1251 if (obj.size[0] != float(numbers[8])):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1252 print('changed length obj {}'.format(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
1253 if (obj.size[1] != float(numbers[9])):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1254 print('changed width obj {}'.format(obj.getNum()))
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1255
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1256 inputfile.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1257 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1258
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1259 # from https://github.com/kuixu/kitti_object_vis
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1260 def inverse_rigid_trans(Tr):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1261 """ Inverse a rigid body transform matrix (3x4 as [R|t])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1262 [R'|-R't; 0|1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1263 """
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1264 import numpy as np
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1265 inv_Tr = np.zeros_like(Tr) # 3x4
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1266 inv_Tr[0:3, 0:3] = transpose(Tr[0:3, 0:3])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1267 inv_Tr[0:3, 3] = dot(-transpose(Tr[0:3, 0:3]), Tr[0:3, 3])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1268 return inv_Tr
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1269
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1270 def loadKITTICalibration(filename):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1271 '''Loads KITTI calibration data'''
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1272 calib = {}
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1273 with open(filename, 'r') as f:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1274 for l in f.readlines():
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1275 l = l.rstrip()
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1276 if len(l) == 0:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1277 continue
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1278 key, value = l.split(' ', 1)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1279 if ":" in key:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1280 key = key[:-1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1281 try:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1282 calib[key] = array([float(x) for x in value.split()])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1283 except ValueError as e:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1284 print(e)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1285 continue
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1286 #calib['Tr_velo_to_cam'] = calib['Tr_velo_cam']
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1287 #calib['Tr_imu_to_velo'] = calib['Tr_imu_velo']
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1288 temps = reshape(calib['Tr_velo_cam'], (3, 4))
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1289 calib['Tr_cam_velo'] = inverse_rigid_trans(temps)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1290 temps = reshape(calib['Tr_imu_velo'], (3, 4))
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1291 calib['Tr_velo_imu'] = inverse_rigid_trans(temps)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1292
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1293 P = reshape(calib['P2'], (3, 4))
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1294 calib['c_u'] = P[0, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1295 calib['c_v'] = P[1, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1296 calib['f_u'] = P[0, 0]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1297 calib['f_v'] = P[1, 1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1298 calib['b_x'] = P[0, 3] / (-calib['f_u']) # relative
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1299 calib['b_y'] = P[1, 3] / (-calib['f_v'])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1300 return calib
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1301
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1302 # from https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1303
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1304
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1305 # def get_cam_in_ex(calib):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1306 # """
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1307 # Qingwu
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1308 # :param calib: calib from kitti_tracking
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1309 # :return: cam_parameters: Camera intrinsics and extrinsics
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1310 # """
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1311 # cam_parameters = {}
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1312 # P = np.reshape(calib["P2"], [3, 4])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1313 # cam_parameters["c_u"] = P[0, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1314 # cam_parameters["c_v"] = P[1, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1315 # cam_parameters["f_u"] = P[0, 0]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1316 # cam_parameters["f_v"] = P[1, 1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1317 # cam_parameters["b_x"] = P[0, 3] / (-cam_parameters["f_u"]) # relative
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1318 # cam_parameters["b_y"] = P[1, 3] / (-cam_parameters["f_v"])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1319 # return cam_parameters
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1320
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1321
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1322 def loadTrajectoriesFromKITTI(filename, kittiCalibration, oxts):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1323 '''Reads data from KITTI ground truth or output from an object detection and tracking method
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1324
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1325 kittiCalibration is obtained from loading training/testing calibration file for each sequence 00XX.txt
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1326 oxts is obtained using utils.load_oxts_packets_and_poses(['./training/oxts/0001.txt']) from pykitti
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1327
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1328 Ref: https://github.com/pratikac/kitti/blob/master/readme.tracking.txt'''
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1329 from pykitti.utils import roty
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1330
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1331 invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3)))
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1332
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1333 header = ['frame', # 0, 1, ..., n
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1334 'trackingid', # -1, 0 , 1, ..., k
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1335 'type', # 'Car', 'Pedestrian', ...
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1336 'truncation', # truncated pixel ratio [0..1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1337 'occlusion', # 0=visible, 1=partly occluded, 2=fully occluded, 3=unknown
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1338 'alpha', # object observation angle [-pi..pi]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1339 # extract 2d bounding box in 0-based coordinates
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1340 'xmin', # left
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1341 'ymin', # top
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1342 'xmax', # right
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1343 'ymax', # bottom
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1344 # extract 3d bounding box information
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1345 'h', # box height
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1346 'w', # box width
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1347 'l', # box length (in meters)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1348 'x', 'y', 'z', # location (x,y,z) in camera coord
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1349 'ry'] # yaw angle (around Y-axis in camera coordinates) [-pi..pi]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1350 data = read_csv(filename, delimiter = ' ', names = header)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1351 data = data[data.trackingid > -1]
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1352
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1353 objects = []
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1354 for objNum in data.trackingid.unique():
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1355 tmp = data[data.trackingid == objNum].sort_values('frame')
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1356 t = moving.Trajectory()#([[float(numbers[6])],[float(numbers[7])]])
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1357 for i, r in tmp.iterrows():
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1358 _, Tr_imu2w = oxts[r.frame]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1359 transfer_matrix = {'P2': reshape(kittiCalibration['P2'], (3, 4)),
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1360 'R_rect': kittiCalibration['R_rect'],
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1361 'Tr_cam_to_velo': kittiCalibration['Tr_cam_velo'],
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1362 # transfer_matrix['Tr_velo_to_cam'] = kittiCalibration['Tr_velo_to_cam']
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1363 'Tr_velo_to_imu': kittiCalibration['Tr_velo_imu'],
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1364 # transfer_matrix['Tr_imu_to_velo'] = kittiCalibration['Tr_imu_to_velo']
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1365 'Tr_imu_to_world': Tr_imu2w}
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1366 # 3D object
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1367 # compute rotational matrix around yaw axis
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1368 R = roty(r.ry)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1369
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1370 # 3d bounding box corners
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1371 x_corners = [r.l / 2, r.l / 2, -r.l / 2, -r.l / 2, r.l / 2, r.l / 2, -r.l / 2, -r.l / 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1372 y_corners = [0, 0, 0, 0, -r.h, -r.h, -r.h, -r.h]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1373 z_corners = [r.w / 2, -r.w / 2, -r.w / 2, r.w / 2, r.w / 2, -r.w / 2, -r.w / 2, r.w / 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1374 # rotate and translate 3d bounding box
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1375 corners3d = dot(R, vstack([x_corners, y_corners, z_corners]))
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1376 corners3d[0, :] = corners3d[0, :] + r.x#obj.t[0]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1377 corners3d[1, :] = corners3d[1, :] + r.y#obj.t[1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1378 corners3d[2, :] = corners3d[2, :] + r.z#obj.t[2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1379 # corners3d = transpose(corners3d)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1380 # box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1381 veloCorners = transpose(dot(invR0, corners3d)) # 8x3 avoid double transpose np.transpose(pts_3d_rect)))
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1382 # boxes3d_world_single, flag_imu, flag_world = calib_function.project_velo_to_world(bboxes_3d_velo=boxes3d_velo_single, Tr_matrix=transfer_matrix)
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1383 Tr_velo_to_imu = transfer_matrix['Tr_velo_to_imu']
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1384 Tr_imu_to_world = transfer_matrix['Tr_imu_to_world']
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1385 homVeloCorners = ones((veloCorners.shape[0], veloCorners.shape[1]+1))
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1386 homVeloCorners[:,:-1] = veloCorners # 8x4 with ones in last column
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1387 imuCorners = dot(Tr_velo_to_imu, homVeloCorners.T).T # 8x3
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1388
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1389 homImuCorners = ones((imuCorners.shape[0], imuCorners.shape[1]+1))
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1390 homImuCorners[:,:-1] = imuCorners # 8x4 with ones in last column
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1391 worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1392
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1393 # take first 4 lines of corners, x,y,_ # x0, y0, _ = boxes3d[0]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1394 xCoords = worldCorners[:4,0]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1395 yCoords = worldCorners[:4,1]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1396 t.addPositionXY(xCoords.mean(), yCoords.mean())
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1397 # check https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1398 objects.append(moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(tmp.frame.min(), tmp.frame.max()),
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1399 positions = t,
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1400 userType = tmp.iloc[0].type))
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1401 return objects
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1402
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1403 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1404 '''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
1405 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1406 if append:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1407 out = utils.openCheck(outputfile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1408 else:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1409 out = utils.openCheck(outputfile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1410 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1411
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1412 features = loadNgsimFile(inputfile, sequenceNum)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1413 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1414 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1415 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1416
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1417 print(nObjectsPerType)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1418
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1419 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1420
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1421 def loadPinholeCameraModel(filename, tanalystFormat = True):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1422 '''Loads the data from a file containing the camera parameters
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1423 (pinhole camera model, http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html)
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1424 and returns a dictionary'''
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1425 if tanalystFormat:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1426 f = utils.openCheck(filename, quitting = True)
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1427 content = utils.getLines(f)
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1428 cameraData = {}
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1429 for l in content:
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1430 tmp = l.split(':')
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1431 cameraData[tmp[0]] = float(tmp[1].strip().replace(',','.'))
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1432 return cameraData
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1433 else:
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1434 print('Unknown camera model (not tanalyst format')
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1435 return None
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1436
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1437 def savePositionsToCsv(f, obj):
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1438 timeInterval = obj.getTimeInterval()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1439 positions = obj.getPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1440 curvilinearPositions = obj.getCurvilinearPositions()
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1441 for i in range(int(obj.length())):
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1442 p1 = positions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1443 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1444 if curvilinearPositions is not None:
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1445 p2 = curvilinearPositions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1446 s += ',{},{}'.format(p2[0],p2[1])
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1447 f.write(s+'\n')
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1448
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1449 def saveTrajectoriesToCsv(filename, objects):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1450 f = utils.openCheck(filename, 'w')
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1451 for i,obj in enumerate(objects):
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1452 savePositionsToCsv(f, obj)
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1453 f.close()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1454
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
1455
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
1456 #########################
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
1457 # 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
1458 #########################
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
1459
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1460 class ClassifierParameters(VideoFilenameAddable):
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1461 'Class for the parameters of object classifiers'
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1462 def loadConfigFile(self, filename):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1463 from configparser import ConfigParser
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1464
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1465 config = ConfigParser()
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1466 config.read_file(addSectionHeader(utils.openCheck(filename)))
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1467
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1468 parentPath = Path(filename).parent
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1469 self.sectionHeader = config.sections()[0]
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1470
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1471 self.pedBikeCarSVMFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'pbv-svm-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1472 self.bikeCarSVMFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'bv-svm-filename'))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1473 self.percentIncreaseCrop = config.getfloat(self.sectionHeader, 'percent-increase-crop')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1474 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop')
1189
ccab20f85710 changed to better parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1182
diff changeset
1475 x = config.getint(self.sectionHeader, 'hog-rescale-size')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1476 self.hogRescaleSize = (x, x)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1477 self.hogNOrientations = config.getint(self.sectionHeader, 'hog-norientations')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1478 x = config.getint(self.sectionHeader, 'hog-npixels-cell')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1479 self.hogNPixelsPerCell = (x, x)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1480 x = config.getint(self.sectionHeader, 'hog-ncells-block')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1481 self.hogNCellsPerBlock = (x, x)
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 892
diff changeset
1482 self.hogBlockNorm = config.get(self.sectionHeader, 'hog-block-norm')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1483
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1484 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1485 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends')
1022
b7689372c0ec renamed quantile to centile
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1021
diff changeset
1486 self.speedAggregationCentile = config.getint(self.sectionHeader, 'speed-aggregation-centile')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1487 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable')
899
1466a63dd1cf added a new classification parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
1488 self.maxPercentUnknown = config.getfloat(self.sectionHeader, 'max-prop-unknown-appearance')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1489 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1490 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1491 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1492 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1493 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1494 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1495 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1496 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1497
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1498 def __init__(self, filename = None):
1058
16575ca4537d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1056
diff changeset
1499 self.configFilename = filename
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1500 if filename is not None and Path(filename).is_file():
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1501 self.loadConfigFile(filename)
813
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1502 else:
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1503 print('Configuration filename {} could not be loaded.'.format(filename))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1504
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1505 def convertToFrames(self, frameRate, speedRatio = 3.6):
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1506 '''Converts parameters with a relationship to time in 'native' frame time
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1507 speedRatio is the conversion from the speed unit in the config file
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1508 to the distance per second
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1509
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1510 ie param(config file) = speedRatio x fps x param(used in program)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1511 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame'''
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1512 denominator = frameRate*speedRatio
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1513 #denominator2 = denominator**2
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1514 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1515 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1516 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1517 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1518 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1519 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1520 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1521 # special case for the lognormal distribution
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1522 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator)
854
33d296984dd8 rework and more info on speed probabilities for classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 852
diff changeset
1523 #self.scaleCyclistSpeed = self.scaleCyclistSpeed # no modification of scale
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1524
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1525
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1526 class ProcessParameters(VideoFilenameAddable):
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1527 '''Class for all parameters controlling data processing: input,
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1528 method parameters, etc. for tracking 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
1529
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
1530 Note: framerate is already taken into account'''
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1531
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1532 def loadConfigFile(self, filename):
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
1533 from configparser import ConfigParser
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1534
1053
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1535 config = ConfigParser({ 'acceleration-bound' : '3',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1536 'min-velocity-cosine' : '0.8',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1537 'ndisplacements' : '3',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1538 'max-nfeatures' : '1000',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1539 'feature-quality' : '0.0812219538558',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1540 'min-feature-distanceklt' : '3.54964337411',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1541 'block-size' : '7',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1542 'use-harris-detector' : '0',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1543 'k' : '0.04',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1544 'window-size' : '6',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1545 'pyramid-level' : '5',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1546 'min-tracking-error' : '0.183328975142',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1547 'max-number-iterations' : '20',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1548 'feature-flag' : '0',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1549 'min-feature-eig-threshold' : '1e-4',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1550 'min-feature-time' : '15',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1551 'min-feature-displacement' : '0.05',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1552 'tracker-reload-time' : '10'}, strict=False)
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1553 config.read_file(addSectionHeader(utils.openCheck(filename)))
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1554 parentPath = Path(filename).parent
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
1555 self.sectionHeader = config.sections()[0]
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1556 # Tracking/display parameters
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1557 self.videoFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'video-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1558 self.databaseFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'database-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1559 self.homographyFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'homography-filename'))
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1560 if Path(self.homographyFilename).is_file():
882
4749b71aa7fb corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
1561 self.homography = loadtxt(self.homographyFilename)
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
1562 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
1563 self.homography = None
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1564 self.intrinsicCameraFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'intrinsic-camera-filename'))
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1565 if Path(self.intrinsicCameraFilename).is_file():
882
4749b71aa7fb corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
1566 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename)
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
1567 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
1568 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
1569 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
1570 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
1571 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
1572 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
1573 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
1574 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
948
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1575
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1576 self.classifierFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'classifier-filename'))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1577
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1578 # 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
1579 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
976
7f5cbdc107c5 corrected bug in converting time horizon to frames for internal computations (results for TTC, pPET and PET will be in frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
1580 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
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
1581 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
1582 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
1583 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
1584 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
1585 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
1586 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
1587 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
1588 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
1589 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
1590 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 938
diff changeset
1591 self.constantSpeedPrototypePrediction = config.getboolean(self.sectionHeader, 'constant-speed')
948
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1592 self.maxLcssDistance = config.getfloat(self.sectionHeader, 'max-lcss-distance')
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1593 self.lcssMetric = config.get(self.sectionHeader, 'lcss-metric')
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1594 self.minLcssSimilarity = config.getfloat(self.sectionHeader, 'min-lcss-similarity')
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
1595
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1596 # Tracking parameters
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1597 self.accelerationBound = config.getint(self.sectionHeader, 'acceleration-bound')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1598 self.minVelocityCosine = config.getfloat(self.sectionHeader, 'min-velocity-cosine')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1599 self.ndisplacements = config.getint(self.sectionHeader, 'ndisplacements')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1600 self.maxNFeatures = config.getint(self.sectionHeader, 'max-nfeatures')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1601 self.minFeatureDistanceKLT = config.getfloat(self.sectionHeader, 'min-feature-distanceklt')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1602 self.featureQuality = config.getfloat(self.sectionHeader, 'feature-quality')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1603 self.blockSize = config.getint(self.sectionHeader, 'block-size')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1604 self.useHarrisDetector = config.getboolean(self.sectionHeader, 'use-harris-detector')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1605 self.k = config.getfloat(self.sectionHeader, 'k')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1606 self.winSize = config.getint(self.sectionHeader, 'window-size')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1607 self.pyramidLevel = config.getint(self.sectionHeader, 'pyramid-level')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1608 self.maxNumberTrackingIterations = config.getint(self.sectionHeader, 'max-number-iterations')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1609 self.minTrackingError = config.getfloat(self.sectionHeader, 'min-tracking-error')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1610 self.featureFlags = config.getboolean(self.sectionHeader, 'feature-flag')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1611 self.minFeatureEigThreshold = config.getfloat(self.sectionHeader, 'min-feature-eig-threshold')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1612 self.minFeatureTime = config.getint(self.sectionHeader, 'min-feature-time')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1613 self.minFeatureDisplacement = config.getfloat(self.sectionHeader, 'min-feature-displacement')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1614 self.updateTimer = config.getint(self.sectionHeader, 'tracker-reload-time')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1615
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
1616
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
1617 def __init__(self, filename = None):
1058
16575ca4537d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1056
diff changeset
1618 self.configFilename = filename
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1619 if filename is not None and Path(filename).is_file():
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
1620 self.loadConfigFile(filename)
813
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1621 else:
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1622 print('Configuration filename {} could not be loaded.'.format(filename))
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
1623
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1624 def processVideoArguments(args):
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1625 '''Loads information from configuration file
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1626 then checks what was passed on the command line
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1627 for override (eg video filename and database filename'''
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1628 if args.configFilename is not None: # consider there is a configuration file
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1143
diff changeset
1629 parentPath = Path(args.configFilename).parent
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1630 params = ProcessParameters(args.configFilename)
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1631 videoFilename = params.videoFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1632 databaseFilename = params.databaseFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1633 if params.homography is not None:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1634 invHomography = linalg.inv(params.homography)
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1635 else:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1636 invHomography = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1637 intrinsicCameraMatrix = params.intrinsicCameraMatrix
935
0e63a918a1ca updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 927
diff changeset
1638 distortionCoefficients = array(params.distortionCoefficients)
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1639 undistortedImageMultiplication = params.undistortedImageMultiplication
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1640 undistort = params.undistort
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1641 firstFrameNum = params.firstFrameNum
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1642 else:
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1143
diff changeset
1643 params = None
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1644 invHomography = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1645 undistort = False
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1646 intrinsicCameraMatrix = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1647 distortionCoefficients = []
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1648 undistortedImageMultiplication = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1649 undistort = False
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1650 firstFrameNum = 0
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1651
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1652 # override video and database filenames if present on command line
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1653 # if not absolute, make all filenames relative to the location of the configuration filename
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1654 if args.videoFilename is not None:
1026
73b124160911 more plumbing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1022
diff changeset
1655 videoFilename = args.videoFilename
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1656 else:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1657 videoFilename = params.videoFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1658 if args.databaseFilename is not None:
1026
73b124160911 more plumbing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1022
diff changeset
1659 databaseFilename = args.databaseFilename
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1660 else:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1661 databaseFilename = params.databaseFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1662
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1663 return params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1664
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1665 # deprecated
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 664
diff changeset
1666 class SceneParameters(object):
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
1667 def __init__(self, config, sectionName):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1668 from configparser import NoOptionError
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
1669 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
1670 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
1671 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
1672 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
1673 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
1674 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
1675 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
1676 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
1677 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
1678 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
1679 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
1680 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
1681 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
1682 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
1683 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
1684
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
1685 @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
1686 def loadConfigFile(filename):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1687 from configparser import ConfigParser
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
1688 config = ConfigParser()
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1689 config.readfp(utils.openCheck(filename))
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
1690 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
1691 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
1692 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
1693 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
1694
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1695
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1696 if __name__ == '__main__':
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1697 import doctest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1698 import unittest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1699 suite = doctest.DocFileSuite('tests/storage.txt')
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1700 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
1701 # #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
1702 # #doctest.testfile("example.txt")