Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 340:1046b7346886
work in progress on storing indicator values
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 19 Jun 2013 23:35:24 -0400 |
parents | 3950bfe22768 |
children | 2f39c4ed0b62 |
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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 import utils |
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6 import moving |
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7 |
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8 __metaclass__ = type |
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9 |
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10 |
50 | 11 ngsimUserTypes = {'twowheels':1, |
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12 'car':2, |
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13 'truck':3} |
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14 |
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15 ######################### |
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16 # Sqlite |
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17 ######################### |
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18 |
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19 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1): |
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20 """ |
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21 This function writers trajectories to a specified sqlite file |
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22 @param[in] objects -> a list of trajectories |
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23 @param[in] trajectoryType - |
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24 @param[out] outFile -> the .sqlite file containting the written objects |
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25 @param[in] objectNumber : number of objects loaded |
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26 """ |
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27 |
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28 import sqlite3 |
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29 connection = sqlite3.connect(outFilename) |
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30 cursor = connection.cursor() |
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31 |
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32 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))" |
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33 cursor.execute(schema) |
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34 |
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35 trajectory_id = 0 |
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36 frame_number = 0 |
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37 if trajectoryType == 'feature': |
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38 if type(objectNumbers) == int and objectNumbers == -1: |
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39 for trajectory in objects: |
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40 trajectory_id += 1 |
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41 frame_number = 0 |
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42 for position in trajectory.getPositions(): |
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43 frame_number += 1 |
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44 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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45 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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46 |
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47 connection.commit() |
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48 connection.close() |
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49 |
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50 def setRoadUserTypes(filename, objects): |
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51 '''Saves the user types of the objects in the sqlite database stored in filename |
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52 The objects should exist in the objects table''' |
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53 import sqlite3 |
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54 connection = sqlite3.connect(filename) |
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55 cursor = connection.cursor() |
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56 for obj in objects: |
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57 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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58 connection.commit() |
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59 connection.close() |
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60 |
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61 def loadPrototypeMatchIndexesFromSqlite(filename): |
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62 """ |
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63 This function loads the prototypes table in the database of name <filename>. |
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64 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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65 """ |
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66 matched_indexes = [] |
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67 |
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68 import sqlite3 |
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70 cursor = connection.cursor() |
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71 |
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72 try: |
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73 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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74 except sqlite3.OperationalError as err: |
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75 print('DB Error: {0}'.format(err)) |
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76 return [] |
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77 |
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78 for row in cursor: |
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79 matched_indexes.append((row[0],row[1])) |
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81 connection.close() | |
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82 return matched_indexes |
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83 |
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84 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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85 if trajectoryType == 'feature': |
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86 statementBeginning = 'where trajectory_id ' |
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87 elif trajectoryType == 'object': |
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88 statementBeginning = 'and OF.object_id ' |
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89 else: |
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90 print('no trajectory type was chosen') |
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91 |
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92 if type(objectNumbers) == int: |
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93 if objectNumbers == -1: |
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94 query = '' |
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95 else: |
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96 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
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97 elif type(objectNumbers) == list: |
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98 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
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99 return query |
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100 |
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101 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
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102 '''Loads trajectories (in the general sense) from the given table |
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103 can be positions or velocities |
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104 |
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105 returns a moving object''' |
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106 import sqlite3 |
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107 |
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108 cursor = connection.cursor() |
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109 |
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110 try: |
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111 if trajectoryType == 'feature': |
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112 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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113 cursor.execute('SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number') |
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114 elif trajectoryType == 'object': |
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115 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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116 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number') |
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117 else: |
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118 print('no trajectory type was chosen') |
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119 except sqlite3.OperationalError as err: |
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120 print('DB Error: {0}'.format(err)) |
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121 return [] |
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122 |
143
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123 objId = -1 |
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124 obj = None |
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125 objects = [] |
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126 for row in cursor: |
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127 if row[0] != objId: |
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128 objId = row[0] |
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129 if obj: |
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130 objects.append(obj) |
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131 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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132 else: |
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133 obj.timeInterval.last = row[1] |
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134 obj.positions.addPositionXY(row[2],row[3]) |
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135 |
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136 if obj: |
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137 objects.append(obj) |
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138 |
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139 return objects |
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140 |
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141 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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142 '''Loads nObjects or the indices in objectNumbers from the database |
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143 TODO: load feature numbers and not average feature trajectories |
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144 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python) |
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145 ''' |
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146 import sqlite3 |
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147 |
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148 connection = sqlite3.connect(filename) # add test if it open |
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149 |
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150 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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151 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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152 |
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153 if len(objectVelocities) > 0: |
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154 for o,v in zip(objects, objectVelocities): |
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155 if o.getNum() == v.getNum(): |
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156 o.velocities = v.positions |
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157 else: |
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158 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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159 |
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160 if trajectoryType == 'object': |
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161 cursor = connection.cursor() |
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162 try: |
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163 # attribute feature numbers to objects |
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164 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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165 cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id') # order is important to group all features per object |
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166 |
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167 featureNumbers = {} |
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168 for row in cursor: |
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169 objId = row[1] |
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170 if objId not in featureNumbers: |
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171 featureNumbers[objId] = [row[0]] |
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172 else: |
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173 featureNumbers[objId].append(row[0]) |
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174 |
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175 for obj in objects: |
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176 obj.featureNumbers = featureNumbers[obj.getNum()] |
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177 |
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178 # load userType |
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179 if objectIdQuery == '': |
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180 cursor.execute('SELECT object_id, road_user_type from objects') |
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181 else: |
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182 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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183 userTypes = {} |
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184 for row in cursor: |
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185 userTypes[row[0]] = row[1] |
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186 |
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187 for obj in objects: |
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188 obj.userType = userTypes[obj.getNum()] |
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189 |
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190 except sqlite3.OperationalError as err: |
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191 print('DB Error: {0}'.format(err)) |
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192 return [] |
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193 |
143
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194 connection.close() |
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195 return objects |
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196 |
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197 def removeObjectsFromSqlite(filename): |
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198 'Removes the objects and object_features tables in the filename' |
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199 import sqlite3 |
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200 connection = sqlite3.connect(filename) |
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201 utils.dropTables(connection, ['objects', 'objects_features']) |
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202 connection.close() |
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203 |
340
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204 def deleteIndicators(filename): |
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205 'Deletes all indicator data in db' |
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206 pass |
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207 |
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208 def saveInteractions(filename, interactions): |
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209 'Saves the interactions in the table' |
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210 import sqlite3 |
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211 connection = sqlite3.connect(filename) |
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212 cursor = connection.cursor() |
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213 cursor.execute('CREATE TABLE interactions IF NOT EXISTS (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))') |
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214 # get the highest interaction id |
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215 for i in interactions: |
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216 cursor.execute('INSERT INTO interactions VALUES({})'.format(i.getNum())) # todo getRoadUserNumbers() |
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217 # CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id)); |
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218 # CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id)) |
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219 # CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number)) |
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220 |
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221 connection.close() |
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222 |
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223 def saveIndicators(filename, indicators): |
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224 'Saves the indicator values in the table' |
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225 import sqlite3 |
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226 connection = sqlite3.connect(filename) |
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227 |
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228 |
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229 connection.close() |
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230 |
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231 ######################### |
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232 # txt files |
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233 ######################### |
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234 |
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235 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
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236 '''Reads data from the trajectory data provided by NGSIM project |
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237 and returns the list of Feature objects''' |
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238 objects = [] |
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239 |
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240 input = utils.openCheck(filename) |
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241 if not input: |
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242 import sys |
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243 sys.exit() |
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244 |
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245 def createObject(numbers): |
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246 firstFrameNum = int(numbers[1]) |
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247 # do the geometry and usertype |
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248 |
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249 firstFrameNum = int(numbers[1]) |
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250 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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251 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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252 obj = moving.MovingObject(num = int(numbers[0]), |
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253 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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254 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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255 userType = int(numbers[10])) |
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256 obj.userType = int(numbers[10]) |
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257 obj.laneNums = [int(numbers[13])] |
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258 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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259 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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260 obj.spaceHeadways = [float(numbers[16])] # feet |
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261 obj.timeHeadways = [float(numbers[17])] # seconds |
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262 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
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263 obj.speeds = [float(numbers[11])] |
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264 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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265 return obj |
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266 |
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267 numbers = input.readline().strip().split() |
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268 if (len(numbers) > 0): |
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269 obj = createObject(numbers) |
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270 |
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271 for line in input: |
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272 numbers = line.strip().split() |
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273 if obj.getNum() != int(numbers[0]): |
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274 # check and adapt the length to deal with issues in NGSIM data |
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275 if (obj.length() != obj.positions.length()): |
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276 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
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277 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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278 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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279 objects.append(obj) |
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280 if (nObjects>0) and (len(objects)>=nObjects): |
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281 break |
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282 obj = createObject(numbers) |
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283 else: |
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284 obj.laneNums.append(int(numbers[13])) |
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285 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
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286 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
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287 obj.speeds.append(float(numbers[11])) |
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288 obj.precedingVehicles.append(int(numbers[14])) |
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289 obj.followingVehicles.append(int(numbers[15])) |
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290 obj.spaceHeadways.append(float(numbers[16])) |
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291 obj.timeHeadways.append(float(numbers[17])) |
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292 |
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293 if (obj.size[0] != float(numbers[8])): |
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294 print 'changed length obj %d' % (obj.getNum()) |
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295 if (obj.size[1] != float(numbers[9])): |
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296 print 'changed width obj %d' % (obj.getNum()) |
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297 |
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298 input.close() |
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299 return objects |
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300 |
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301 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
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302 '''Reads data from the trajectory data provided by NGSIM project |
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303 and converts to our current format.''' |
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304 if append: |
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305 out = open(outFile,'a') |
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306 else: |
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307 out = open(outFile,'w') |
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308 nObjectsPerType = [0,0,0] |
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309 |
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310 features = loadNgsimFile(inFile, sequenceNum) |
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311 for f in features: |
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312 nObjectsPerType[f.userType-1] += 1 |
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313 f.write(out) |
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314 |
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315 print nObjectsPerType |
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316 |
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317 out.close() |
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318 |
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319 def writePositionsToCsv(f, obj): |
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320 timeInterval = obj.getTimeInterval() |
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321 positions = obj.getPositions() |
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322 curvilinearPositions = obj.getCurvilinearPositions() |
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323 for i in xrange(int(obj.length())): |
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324 p1 = positions[i] |
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325 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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326 if curvilinearPositions != None: |
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327 p2 = curvilinearPositions[i] |
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328 s += ',{},{}'.format(p2[0],p2[1]) |
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329 f.write(s+'\n') |
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330 |
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331 def writeTrajectoriesToCsv(filename, objects): |
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332 f = open(filename, 'w') |
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333 for i,obj in enumerate(objects): |
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334 writePositionsToCsv(f, obj) |
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335 f.close() |
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336 |
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337 if __name__ == "__main__": |
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338 import doctest |
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339 import unittest |
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340 suite = doctest.DocFileSuite('tests/storage.txt') |
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341 unittest.TextTestRunner().run(suite) |
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342 # #doctest.testmod() |
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343 # #doctest.testfile("example.txt") |