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annotate python/storage.py @ 390:12be4a0cb9aa

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sql code to create bounding boxes in image space
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 25 Jul 2013 18:55:44 -0400
parents ba813f148ade
children eaf7765221d9
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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, moving, events, indicators
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6
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7 import sqlite3
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9 __metaclass__ = type
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11
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12 ngsimUserTypes = {'twowheels':1,
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13 'car':2,
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14 'truck':3}
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16 #########################
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17 # Sqlite
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18 #########################
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19
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20 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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21 """
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22 This function writers trajectories to a specified sqlite file
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23 @param[in] objects -> a list of trajectories
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24 @param[in] trajectoryType -
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25 @param[out] outFile -> the .sqlite file containting the written objects
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26 @param[in] objectNumber : number of objects loaded
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27 """
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28 connection = sqlite3.connect(outFilename)
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29 cursor = connection.cursor()
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31 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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32 cursor.execute(schema)
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33
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34 trajectory_id = 0
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35 frame_number = 0
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36 if trajectoryType == 'feature':
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37 if type(objectNumbers) == int and objectNumbers == -1:
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38 for trajectory in objects:
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39 trajectory_id += 1
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40 frame_number = 0
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41 for position in trajectory.getPositions():
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42 frame_number += 1
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43 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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44 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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46 connection.commit()
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47 connection.close()
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48
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49 def setRoadUserTypes(filename, objects):
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50 '''Saves the user types of the objects in the sqlite database stored in filename
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51 The objects should exist in the objects table'''
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52 connection = sqlite3.connect(filename)
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53 cursor = connection.cursor()
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54 for obj in objects:
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55 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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56 connection.commit()
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57 connection.close()
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58
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59 def loadPrototypeMatchIndexesFromSqlite(filename):
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60 """
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61 This function loads the prototypes table in the database of name <filename>.
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62 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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63 """
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64 matched_indexes = []
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65
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66 connection = sqlite3.connect(filename)
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67 cursor = connection.cursor()
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68
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69 try:
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70 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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71 except sqlite3.OperationalError as error:
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72 utils.printDBError(error)
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73 return []
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75 for row in cursor:
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76 matched_indexes.append((row[0],row[1]))
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77
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78 connection.close()
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79 return matched_indexes
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81 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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82 if trajectoryType == 'feature':
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83 statementBeginning = 'where trajectory_id '
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84 elif trajectoryType == 'object':
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85 statementBeginning = 'and OF.object_id '
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86 else:
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87 print('no trajectory type was chosen')
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89 if type(objectNumbers) == int:
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90 if objectNumbers == -1:
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91 query = ''
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92 else:
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93 query = statementBeginning+'between 0 and {0} '.format(objectNumbers)
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94 elif type(objectNumbers) == list:
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95 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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96 return query
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98 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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99 '''Loads trajectories (in the general sense) from the given table
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100 can be positions or velocities
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101
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102 returns a moving object'''
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103 cursor = connection.cursor()
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104
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105 try:
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106 if trajectoryType == 'feature':
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107 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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108 cursor.execute('SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number')
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109 elif trajectoryType == 'object':
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110 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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111 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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112 else:
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113 print('no trajectory type was chosen')
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114 except sqlite3.OperationalError as error:
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115 utils.printDBError(error)
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116 return []
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117
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118 objId = -1
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119 obj = None
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120 objects = []
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121 for row in cursor:
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122 if row[0] != objId:
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123 objId = row[0]
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124 if obj:
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125 objects.append(obj)
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126 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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127 else:
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128 obj.timeInterval.last = row[1]
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129 obj.positions.addPositionXY(row[2],row[3])
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130
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131 if obj:
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132 objects.append(obj)
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133
239
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134 return objects
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135
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136 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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137 '''Loads nObjects or the indices in objectNumbers from the database
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138 TODO: load feature numbers and not average feature trajectories
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139 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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140 '''
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141 connection = sqlite3.connect(filename) # add test if it open
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142
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143 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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144 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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145
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146 if len(objectVelocities) > 0:
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147 for o,v in zip(objects, objectVelocities):
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148 if o.getNum() == v.getNum():
239
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149 o.velocities = v.positions
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150 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
239
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151 else:
329
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152 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
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153
263
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154 if trajectoryType == 'object':
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155 cursor = connection.cursor()
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156 try:
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157 # attribute feature numbers to objects
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158 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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159 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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160
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161 featureNumbers = {}
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162 for row in cursor:
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163 objId = row[1]
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164 if objId not in featureNumbers:
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165 featureNumbers[objId] = [row[0]]
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166 else:
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167 featureNumbers[objId].append(row[0])
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168
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169 for obj in objects:
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170 obj.featureNumbers = featureNumbers[obj.getNum()]
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171
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172 # load userType
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173 if objectIdQuery == '':
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174 cursor.execute('SELECT object_id, road_user_type from objects')
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175 else:
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176 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
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177 userTypes = {}
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178 for row in cursor:
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179 userTypes[row[0]] = row[1]
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180
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181 for obj in objects:
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182 obj.userType = userTypes[obj.getNum()]
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183
342
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184 except sqlite3.OperationalError as error:
344
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185 utils.printDBError(error)
263
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186 return []
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187
143
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188 connection.close()
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189 return objects
0
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190
344
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191 def removeFromSqlite(filename, dataType):
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192 'Removes some tables in the filename depending on type of data'
235
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193 connection = sqlite3.connect(filename)
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194 if dataType == 'object':
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195 utils.dropTables(connection, ['objects', 'objects_features'])
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196 elif dataType == 'interaction':
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197 utils.dropTables(connection, ['interactions', 'indicators'])
390
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198 elif dataType == 'bb':
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199 utils.dropTables(connection, ['boundingbox'])
344
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200 else:
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201 print('Unknown data type {} to delete from database'.format(dataType))
235
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202 connection.close()
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203
341
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204 def createInteractionTable(cursor):
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205 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))')
341
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206
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207 def createIndicatorTables(cursor):
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208 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))')
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209 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))')
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210 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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211
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212 def saveInteraction(cursor, interaction):
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213 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
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214 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant()))
341
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diff changeset
215
340
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216 def saveInteractions(filename, interactions):
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217 'Saves the interactions in the table'
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218 connection = sqlite3.connect(filename)
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219 cursor = connection.cursor()
342
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220 try:
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221 createInteractionTable(cursor)
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222 for inter in interactions:
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223 saveInteraction(cursor, inter)
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224 except sqlite3.OperationalError as error:
344
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225 utils.printDBError(error)
341
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226 connection.commit()
340
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227 connection.close()
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228
341
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229 def saveIndicator(cursor, interactionNum, indicator):
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230 for instant in indicator.getTimeInterval():
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231 if indicator[instant]:
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232 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant]))
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diff changeset
233
343
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234 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames):
340
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235 'Saves the indicator values in the table'
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236 connection = sqlite3.connect(filename)
341
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237 cursor = connection.cursor()
342
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238 try:
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diff changeset
239 createInteractionTable(cursor)
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240 createIndicatorTables(cursor)
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241 for inter in interactions:
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242 saveInteraction(cursor, inter)
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243 for indicatorName in indicatorNames:
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244 indicator = inter.getIndicator(indicatorName)
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245 if indicator != None:
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246 saveIndicator(cursor, inter.getNum(), indicator)
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diff changeset
247 except sqlite3.OperationalError as error:
344
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248 utils.printDBError(error)
341
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249 connection.commit()
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250 connection.close()
340
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251
342
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252 def loadIndicators(filename):
343
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diff changeset
253 '''Loads interaction indicators
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254
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255 TODO choose the interactions to load'''
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256 interactions = []
342
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257 connection = sqlite3.connect(filename)
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258 cursor = connection.cursor()
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259 try:
343
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260 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type')
342
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261 interactionNum = -1
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262 indicatorTypeNum = -1
343
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263 tmpIndicators = {}
342
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264 for row in cursor:
343
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265 if row[0] != interactionNum: # save interaction and create new interaction
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266 if interactionNum >= 0:
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267 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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268 interactions[-1].indicators = tmpIndicators
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269 tmpIndicators = {}
342
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270 interactionNum = row[0]
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271 roadUserNumbers = row[1:3]
343
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272 if indicatorTypeNum != row[5]:
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273 if indicatorTypeNum >= 0:
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274 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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275 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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276 indicatorTypeNum = row[5]
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277 indicatorValues = {row[6]:row[7]}
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278 else:
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279 indicatorValues[row[6]] = row[7]
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280 if interactionNum >= 0:
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281 if indicatorTypeNum >= 0:
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282 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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283 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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284 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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285 interactions[-1].indicators = tmpIndicators
342
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286 except sqlite3.OperationalError as error:
344
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287 utils.printDBError(error)
343
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288 return []
342
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289 connection.close()
343
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290 return interactions
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291 # load first and last object instants
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292 # 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
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293
390
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294 def createBoundingBoxTable(filename, invHomography = None):
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295 '''Create the table to store the object bounding boxes
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296 '''
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297 connection = sqlite3.connect(filename)
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298 cursor = connection.cursor()
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299 try:
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300 cursor.execute('CREATE TABLE IF NOT EXISTS boundingbox (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))')
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301 cursor.execute('INSERT INTO boundingbox SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
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302 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
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303 '(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])+
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304 'GROUP BY object_id, frame_number')
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305 except sqlite3.OperationalError as error:
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306 utils.printDBError(error)
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307 connection.commit()
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308 connection.close()
329
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309
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310 #########################
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311 # txt files
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312 #########################
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313
173
319a04ba9033 function name change
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314 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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315 '''Reads data from the trajectory data provided by NGSIM project
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316 and returns the list of Feature objects'''
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317 objects = []
0
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318
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319 input = utils.openCheck(filename)
0
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320 if not input:
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321 import sys
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322 sys.exit()
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323
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324 def createObject(numbers):
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325 firstFrameNum = int(numbers[1])
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326 # do the geometry and usertype
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327
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328 firstFrameNum = int(numbers[1])
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329 lastFrameNum = firstFrameNum+int(numbers[2])-1
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330 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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331 obj = moving.MovingObject(num = int(numbers[0]),
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332 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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333 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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334 userType = int(numbers[10]))
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335 obj.userType = int(numbers[10])
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336 obj.laneNums = [int(numbers[13])]
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337 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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338 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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339 obj.spaceHeadways = [float(numbers[16])] # feet
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340 obj.timeHeadways = [float(numbers[17])] # seconds
327
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diff changeset
341 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate
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diff changeset
342 obj.speeds = [float(numbers[11])]
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343 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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344 return obj
0
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345
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346 numbers = input.readline().strip().split()
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347 if (len(numbers) > 0):
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348 obj = createObject(numbers)
0
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349
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350 for line in input:
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351 numbers = line.strip().split()
329
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diff changeset
352 if obj.getNum() != int(numbers[0]):
0
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353 # check and adapt the length to deal with issues in NGSIM data
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diff changeset
354 if (obj.length() != obj.positions.length()):
329
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diff changeset
355 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
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diff changeset
356 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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357 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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diff changeset
358 objects.append(obj)
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359 if (nObjects>0) and (len(objects)>=nObjects):
0
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360 break
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361 obj = createObject(numbers)
0
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362 else:
327
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diff changeset
363 obj.laneNums.append(int(numbers[13]))
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diff changeset
364 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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diff changeset
365 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
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366 obj.speeds.append(float(numbers[11]))
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diff changeset
367 obj.precedingVehicles.append(int(numbers[14]))
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diff changeset
368 obj.followingVehicles.append(int(numbers[15]))
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diff changeset
369 obj.spaceHeadways.append(float(numbers[16]))
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diff changeset
370 obj.timeHeadways.append(float(numbers[17]))
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parents: 0
diff changeset
371
72
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diff changeset
372 if (obj.size[0] != float(numbers[8])):
329
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diff changeset
373 print 'changed length obj %d' % (obj.getNum())
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diff changeset
374 if (obj.size[1] != float(numbers[9])):
329
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diff changeset
375 print 'changed width obj %d' % (obj.getNum())
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376
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diff changeset
377 input.close()
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378 return objects
0
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379
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380 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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381 '''Reads data from the trajectory data provided by NGSIM project
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382 and converts to our current format.'''
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383 if append:
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384 out = utils.openCheck(outFile,'a')
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385 else:
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386 out = utils.openCheck(outFile,'w')
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387 nObjectsPerType = [0,0,0]
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388
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389 features = loadNgsimFile(inFile, sequenceNum)
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390 for f in features:
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391 nObjectsPerType[f.userType-1] += 1
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392 f.write(out)
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393
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394 print nObjectsPerType
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395
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396 out.close()
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397
335
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398 def writePositionsToCsv(f, obj):
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399 timeInterval = obj.getTimeInterval()
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400 positions = obj.getPositions()
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401 curvilinearPositions = obj.getCurvilinearPositions()
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402 for i in xrange(int(obj.length())):
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403 p1 = positions[i]
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404 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
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405 if curvilinearPositions != None:
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406 p2 = curvilinearPositions[i]
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407 s += ',{},{}'.format(p2[0],p2[1])
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408 f.write(s+'\n')
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409
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410 def writeTrajectoriesToCsv(filename, objects):
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411 f = utils.openCheck(filename, 'w')
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412 for i,obj in enumerate(objects):
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413 writePositionsToCsv(f, obj)
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414 f.close()
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415
377
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416 def writeList(filename, l):
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417 f = utils.openCheck(filename, 'w')
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418 for x in l:
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419 f.write('{}\n'.format(x))
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420 f.close()
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421
382
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422 def loadListStrings(filename):
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423 f = utils.openCheck(filename, 'r')
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424 result = [l.strip() for l in f]
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425 f.close()
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426 return result
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427
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428
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429 if __name__ == "__main__":
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430 import doctest
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431 import unittest
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432 suite = doctest.DocFileSuite('tests/storage.txt')
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433 unittest.TextTestRunner().run(suite)
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434 # #doctest.testmod()
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435 # #doctest.testfile("example.txt")