Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 595:17b02c8054d0
added tests and corrected one bug
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sun, 07 Dec 2014 22:59:47 -0500 |
parents | 5800a87f11ae |
children | dc2d0a0d7fe1 |
rev | line source |
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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, logging |
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8 |
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9 __metaclass__ = type |
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10 |
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11 |
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12 commentChar = '#' |
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13 |
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14 delimiterChar = '%'; |
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50 | 16 ngsimUserTypes = {'twowheels':1, |
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17 'car':2, |
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18 'truck':3} |
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19 |
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20 ######################### |
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21 # Sqlite |
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22 ######################### |
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23 |
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24 # utils |
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25 def printDBError(error): |
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26 print('DB Error: {}'.format(error)) |
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27 |
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28 def dropTables(connection, tableNames): |
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29 'deletes the table with names in tableNames' |
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30 try: |
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31 cursor = connection.cursor() |
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32 for tableName in tableNames: |
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33 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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34 except sqlite3.OperationalError as error: |
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35 printDBError(error) |
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36 |
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37 # TODO: add test if database connection is open |
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38 # IO to sqlite |
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39 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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40 """ |
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41 This function writers trajectories to a specified sqlite file |
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42 @param[in] objects -> a list of trajectories |
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43 @param[in] trajectoryType - |
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44 @param[out] outputFilename -> the .sqlite file containting the written objects |
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45 @param[in] objectNumber : number of objects loaded |
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46 """ |
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47 connection = sqlite3.connect(outputFilename) |
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48 cursor = connection.cursor() |
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49 |
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50 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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51 cursor.execute(schema) |
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52 |
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53 trajectory_id = 0 |
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54 frame_number = 0 |
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55 if trajectoryType == 'feature': |
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56 if type(objectNumbers) == int and objectNumbers == -1: |
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57 for trajectory in objects: |
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58 trajectory_id += 1 |
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59 frame_number = 0 |
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60 for position in trajectory.getPositions(): |
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61 frame_number += 1 |
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62 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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63 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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64 |
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65 connection.commit() |
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66 connection.close() |
546 | 67 |
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68 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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69 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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70 connection = sqlite3.connect(outputFilename) |
546 | 71 cursor = connection.cursor() |
72 | |
73 cursor.execute("CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
74 cursor.execute("CREATE TABLE IF NOT EXISTS \"velocities\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
75 | |
76 if trajectoryType == 'feature': | |
77 if type(objectNumbers) == int and objectNumbers == -1: | |
78 for trajectory in objects: | |
79 trajectory_id = trajectory.num | |
80 frame_number = trajectory.timeInterval.first | |
81 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): | |
82 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y)) | |
83 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y)) | |
84 frame_number += 1 | |
85 | |
86 connection.commit() | |
87 connection.close() | |
88 | |
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89 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
546 | 90 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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91 connection = sqlite3.connect(outputFilename) |
546 | 92 cursor = connection.cursor() |
93 | |
94 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))") | |
95 | |
96 for route in prototypes.keys(): | |
97 if prototypes[route]!=[]: | |
98 for i in prototypes[route]: | |
99 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) | |
100 | |
101 connection.commit() | |
102 connection.close() | |
103 | |
104 def loadPrototypesFromSqlite(filename): | |
105 """ | |
106 This function loads the prototype file in the database | |
107 It returns a dictionary for prototypes for each route and nMatching | |
108 """ | |
109 prototypes = {} | |
110 nMatching={} | |
111 | |
112 connection = sqlite3.connect(filename) | |
113 cursor = connection.cursor() | |
114 | |
115 try: | |
116 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') | |
117 except sqlite3.OperationalError as error: | |
118 utils.printDBError(error) | |
119 return [] | |
120 | |
121 for row in cursor: | |
122 route=(row[1],row[2]) | |
123 if route not in prototypes.keys(): | |
124 prototypes[route]=[] | |
125 prototypes[route].append(row[0]) | |
126 nMatching[row[0]]=row[3] | |
127 | |
128 connection.close() | |
129 return prototypes,nMatching | |
130 | |
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131 def writeLabelsToSqlite(labels, outputFilename): |
546 | 132 """ labels is a dictionary with keys: routes, values: prototypes Ids |
133 """ | |
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134 connection = sqlite3.connect(outputFilename) |
546 | 135 cursor = connection.cursor() |
136 | |
137 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") | |
138 | |
139 for route in labels.keys(): | |
140 if labels[route]!=[]: | |
141 for i in labels[route]: | |
142 for j in labels[route][i]: | |
143 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) | |
144 | |
145 connection.commit() | |
146 connection.close() | |
147 | |
148 def loadLabelsFromSqlite(filename): | |
149 labels = {} | |
150 | |
151 connection = sqlite3.connect(filename) | |
152 cursor = connection.cursor() | |
153 | |
154 try: | |
155 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') | |
156 except sqlite3.OperationalError as error: | |
157 utils.printDBError(error) | |
158 return [] | |
159 | |
160 for row in cursor: | |
161 route=(row[1],row[2]) | |
162 p=row[3] | |
163 if route not in labels.keys(): | |
164 labels[route]={} | |
165 if p not in labels[route].keys(): | |
166 labels[route][p]=[] | |
167 labels[route][p].append(row[0]) | |
168 | |
169 connection.close() | |
170 return labels | |
171 | |
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172 def writeRoutesToSqlite(Routes, outputFilename): |
546 | 173 """ This function writes the activity path define by start and end IDs""" |
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174 connection = sqlite3.connect(outputFilename) |
546 | 175 cursor = connection.cursor() |
176 | |
177 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") | |
178 | |
179 for route in Routes.keys(): | |
180 if Routes[route]!=[]: | |
181 for i in Routes[route]: | |
182 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) | |
183 | |
184 connection.commit() | |
185 connection.close() | |
186 | |
187 def loadRoutesFromSqlite(filename): | |
188 Routes = {} | |
189 | |
190 connection = sqlite3.connect(filename) | |
191 cursor = connection.cursor() | |
192 | |
193 try: | |
194 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') | |
195 except sqlite3.OperationalError as error: | |
196 utils.printDBError(error) | |
197 return [] | |
198 | |
199 for row in cursor: | |
200 route=(row[1],row[2]) | |
201 if route not in Routes.keys(): | |
202 Routes[route]=[] | |
203 Routes[route].append(row[0]) | |
204 | |
205 connection.close() | |
206 return Routes | |
207 | |
208 def setRoutes(filename, objects): | |
209 connection = sqlite3.connect(filename) | |
210 cursor = connection.cursor() | |
211 for obj in objects: | |
212 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum())) | |
213 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum())) | |
214 connection.commit() | |
215 connection.close() | |
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216 |
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217 def setRoadUserTypes(filename, objects): |
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218 '''Saves the user types of the objects in the sqlite database stored in filename |
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219 The objects should exist in the objects table''' |
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220 connection = sqlite3.connect(filename) |
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221 cursor = connection.cursor() |
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222 for obj in objects: |
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223 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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224 connection.commit() |
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225 connection.close() |
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226 |
209
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227 def loadPrototypeMatchIndexesFromSqlite(filename): |
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228 """ |
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229 This function loads the prototypes table in the database of name <filename>. |
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230 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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231 """ |
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232 matched_indexes = [] |
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233 |
211 | 234 connection = sqlite3.connect(filename) |
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235 cursor = connection.cursor() |
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236 |
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237 try: |
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238 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
342
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239 except sqlite3.OperationalError as error: |
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240 printDBError(error) |
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241 return [] |
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242 |
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243 for row in cursor: |
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244 matched_indexes.append((row[0],row[1])) |
211 | 245 |
246 connection.close() | |
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247 return matched_indexes |
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248 |
263
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249 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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250 if trajectoryType == 'feature': |
330
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251 statementBeginning = 'where trajectory_id ' |
263
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252 elif trajectoryType == 'object': |
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253 statementBeginning = 'and OF.object_id ' |
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254 elif trajectoryType == 'bbtop' or 'bbbottom': |
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255 statementBeginning = 'where object_id ' |
263
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256 else: |
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257 print('no trajectory type was chosen') |
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258 |
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259 if objectNumbers is None: |
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260 query = '' |
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261 elif type(objectNumbers) == int: |
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262 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
263
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263 elif type(objectNumbers) == list: |
330
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264 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
263
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265 return query |
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266 |
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267 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): |
239
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268 '''Loads trajectories (in the general sense) from the given table |
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269 can be positions or velocities |
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270 |
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271 returns a moving object''' |
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272 cursor = connection.cursor() |
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273 |
215
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274 try: |
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275 idQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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276 if trajectoryType == 'feature': |
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277 queryStatement = 'SELECT * from '+tableName+' '+idQuery+'ORDER BY trajectory_id, frame_number' |
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278 cursor.execute(queryStatement) |
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279 logging.debug(queryStatement) |
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280 elif trajectoryType == 'object': |
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281 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 '+idQuery+'group by OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number' |
587
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282 cursor.execute(queryStatement) |
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283 logging.debug(queryStatement) |
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284 elif trajectoryType in ['bbtop', 'bbbottom']: |
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285 if trajectoryType == 'bbtop': |
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286 corner = 'top_left' |
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287 elif trajectoryType == 'bbbottom': |
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288 corner = 'bottom_right' |
589
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289 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName+' '+idQuery+'ORDER BY object_id, frame_number' |
417
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290 cursor.execute(queryStatement) |
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291 logging.debug(queryStatement) |
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292 else: |
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293 print('no trajectory type was chosen') |
342
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294 except sqlite3.OperationalError as error: |
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295 printDBError(error) |
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296 return [] |
239
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297 |
143
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298 objId = -1 |
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299 obj = None |
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300 objects = [] |
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301 for row in cursor: |
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302 if row[0] != objId: |
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303 objId = row[0] |
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304 if obj != None and obj.length() == obj.positions.length(): |
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305 objects.append(obj) |
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306 elif obj != None: |
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307 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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308 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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309 else: |
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310 obj.timeInterval.last = row[1] |
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311 obj.positions.addPositionXY(row[2],row[3]) |
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312 |
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313 if obj != None and obj.length() == obj.positions.length(): |
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314 objects.append(obj) |
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315 elif obj != None: |
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316 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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317 |
239
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318 return objects |
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319 |
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320 def loadUserTypesFromTable(cursor, trajectoryType, objectNumbers): |
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321 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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322 if objectIdQuery == '': |
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323 cursor.execute('SELECT object_id, road_user_type from objects') |
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324 else: |
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325 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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326 userTypes = {} |
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327 for row in cursor: |
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328 userTypes[row[0]] = row[1] |
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329 return userTypes |
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330 |
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331 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None): |
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332 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database''' |
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333 connection = sqlite3.connect(filename) |
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334 |
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335 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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336 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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337 |
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338 if len(objectVelocities) > 0: |
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339 for o,v in zip(objects, objectVelocities): |
329
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340 if o.getNum() == v.getNum(): |
239
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341 o.velocities = v.positions |
343
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342 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
239
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343 else: |
329
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344 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
239
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345 |
263
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346 if trajectoryType == 'object': |
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347 cursor = connection.cursor() |
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348 try: |
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349 # attribute feature numbers to objects |
263
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350 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
417
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351 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
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352 cursor.execute(queryStatement) |
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353 logging.debug(queryStatement) |
263
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354 |
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355 featureNumbers = {} |
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356 for row in cursor: |
329
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357 objId = row[1] |
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358 if objId not in featureNumbers: |
263
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359 featureNumbers[objId] = [row[0]] |
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360 else: |
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361 featureNumbers[objId].append(row[0]) |
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362 |
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363 for obj in objects: |
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364 obj.featureNumbers = featureNumbers[obj.getNum()] |
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365 |
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366 # load userType |
588
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367 userTypes = loadUserTypesFromTable(cursor, trajectoryType, objectNumbers) |
329
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368 for obj in objects: |
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369 obj.userType = userTypes[obj.getNum()] |
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370 |
342
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371 except sqlite3.OperationalError as error: |
491
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372 printDBError(error) |
588
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373 objects = [] |
263
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374 |
143
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375 connection.close() |
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diff
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|
376 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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diff
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|
377 |
589
5800a87f11ae
corrected one bug and changed attribute names
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|
378 def loadGroundTruthFromSqlite(filename, gtType = 'bb', gtNumbers = None): |
588
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379 'Loads bounding box annotations (ground truth) from an SQLite ' |
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380 connection = sqlite3.connect(filename) |
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381 gt = [] |
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382 |
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383 if gtType == 'bb': |
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384 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', gtNumbers) |
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|
385 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', gtNumbers) |
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386 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', gtNumbers) # string format is same as object |
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387 |
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388 for t, b in zip(topCorners, bottomCorners): |
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|
389 num = t.getNum() |
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390 if t.getNum() == b.getNum(): |
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391 annotation = moving.BBAnnotation(num, t.getTimeInterval(), t, b, userTypes[num]) |
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|
392 gt.append(annotation) |
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393 else: |
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394 print ('Unknown type of annotation {}'.format(gtType)) |
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|
395 |
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|
396 connection.close() |
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397 return gt |
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|
398 |
584
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renames removeFromSqlite to deleteFromSqlite
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diff
changeset
|
399 def deleteFromSqlite(filename, dataType): |
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renames removeFromSqlite to deleteFromSqlite
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changeset
|
400 'Deletes (drops) some tables in the filename depending on type of data' |
491
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|
401 import os |
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402 if os.path.isfile(filename): |
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|
403 connection = sqlite3.connect(filename) |
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|
404 if dataType == 'object': |
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|
405 dropTables(connection, ['objects', 'objects_features']) |
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406 elif dataType == 'interaction': |
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changeset
|
407 dropTables(connection, ['interactions', 'indicators']) |
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408 elif dataType == 'bb': |
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|
409 dropTables(connection, ['bounding_boxes']) |
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|
410 else: |
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changeset
|
411 print('Unknown data type {} to delete from database'.format(dataType)) |
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diff
changeset
|
412 connection.close() |
344
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slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
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343
diff
changeset
|
413 else: |
491
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changeset
|
414 print('{} does not exist'.format(filename)) |
235
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added script and functions to remove object tables
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218
diff
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|
415 |
341
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diff
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|
416 def createInteractionTable(cursor): |
343
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|
417 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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|
418 |
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|
419 def createIndicatorTables(cursor): |
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420 # 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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diff
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|
421 # 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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|
422 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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|
423 |
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|
424 def saveInteraction(cursor, interaction): |
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425 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
343
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diff
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|
426 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
341
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diff
changeset
|
427 |
340
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|
428 def saveInteractions(filename, interactions): |
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|
429 'Saves the interactions in the table' |
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|
430 connection = sqlite3.connect(filename) |
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|
431 cursor = connection.cursor() |
342
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diff
changeset
|
432 try: |
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diff
changeset
|
433 createInteractionTable(cursor) |
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diff
changeset
|
434 for inter in interactions: |
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diff
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|
435 saveInteraction(cursor, inter) |
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diff
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|
436 except sqlite3.OperationalError as error: |
491
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|
437 printDBError(error) |
341
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diff
changeset
|
438 connection.commit() |
340
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diff
changeset
|
439 connection.close() |
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diff
changeset
|
440 |
341
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diff
changeset
|
441 def saveIndicator(cursor, interactionNum, indicator): |
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diff
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|
442 for instant in indicator.getTimeInterval(): |
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diff
changeset
|
443 if indicator[instant]: |
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diff
changeset
|
444 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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445 |
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446 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
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447 'Saves the indicator values in the table' |
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448 connection = sqlite3.connect(filename) |
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449 cursor = connection.cursor() |
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450 try: |
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451 createInteractionTable(cursor) |
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452 createIndicatorTables(cursor) |
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453 for inter in interactions: |
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454 saveInteraction(cursor, inter) |
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455 for indicatorName in indicatorNames: |
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456 indicator = inter.getIndicator(indicatorName) |
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457 if indicator != None: |
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458 saveIndicator(cursor, inter.getNum(), indicator) |
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459 except sqlite3.OperationalError as error: |
491
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460 printDBError(error) |
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461 connection.commit() |
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462 connection.close() |
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463 |
482
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464 def loadInteractions(filename): |
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465 '''Loads interaction and their indicators |
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466 |
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467 TODO choose the interactions to load''' |
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468 interactions = [] |
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469 connection = sqlite3.connect(filename) |
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470 cursor = connection.cursor() |
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471 try: |
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472 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') |
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473 interactionNum = -1 |
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474 indicatorTypeNum = -1 |
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475 tmpIndicators = {} |
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476 for row in cursor: |
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477 if row[0] != interactionNum: # save interaction and create new interaction |
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478 if interactionNum >= 0: |
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479 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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480 interactions[-1].indicators = tmpIndicators |
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481 tmpIndicators = {} |
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482 interactionNum = row[0] |
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483 roadUserNumbers = row[1:3] |
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484 if indicatorTypeNum != row[5]: |
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485 if indicatorTypeNum >= 0: |
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486 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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487 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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488 indicatorTypeNum = row[5] |
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489 indicatorValues = {row[6]:row[7]} |
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490 else: |
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491 indicatorValues[row[6]] = row[7] |
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492 if interactionNum >= 0: |
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493 if indicatorTypeNum >= 0: |
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494 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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495 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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496 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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497 interactions[-1].indicators = tmpIndicators |
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498 except sqlite3.OperationalError as error: |
491
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499 printDBError(error) |
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500 return [] |
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501 connection.close() |
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502 return interactions |
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503 # load first and last object instants |
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504 # 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 |
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505 |
390
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506 def createBoundingBoxTable(filename, invHomography = None): |
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507 '''Create the table to store the object bounding boxes in image space |
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508 ''' |
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509 connection = sqlite3.connect(filename) |
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510 cursor = connection.cursor() |
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511 try: |
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512 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))') |
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513 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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514 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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515 '(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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516 'GROUP BY object_id, frame_number') |
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517 except sqlite3.OperationalError as error: |
491
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518 printDBError(error) |
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519 connection.commit() |
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520 connection.close() |
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521 |
586
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522 def loadBoundingBoxTableForDisplay(filename): |
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523 connection = sqlite3.connect(filename) |
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524 cursor = connection.cursor() |
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525 boundingBoxes = {} # list of bounding boxes for each instant |
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526 try: |
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527 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
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528 result = [row for row in cursor] |
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529 if len(result) > 0: |
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530 cursor.execute('SELECT * FROM bounding_boxes') |
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531 for row in cursor: |
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532 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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533 except sqlite3.OperationalError as error: |
491
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534 printDBError(error) |
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535 return boundingBoxes |
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536 connection.close() |
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537 return boundingBoxes |
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538 |
587
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539 def loadBoundingBoxTable(filename): |
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540 connection = sqlite3.connect(filename) |
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541 cursor = connection.cursor() |
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542 boundingBoxes = [] |
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543 |
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544 try: |
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545 pass |
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546 except sqlite3.OperationalError as error: |
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547 printDBError(error) |
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diff
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548 return boundingBoxes |
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549 connection.close() |
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550 return boundingBoxes |
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551 |
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552 |
329
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553 ######################### |
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554 # txt files |
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555 ######################### |
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556 |
525
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557 def openCheck(filename, option = 'r', quitting = False): |
509
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558 '''Open file filename in read mode by default |
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559 and checks it is open''' |
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560 try: |
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parents:
491
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561 return open(filename, option) |
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562 except IOError: |
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563 print 'File %s could not be opened.' % filename |
525
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parents:
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|
564 if quitting: |
509
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parents:
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|
565 from sys import exit |
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parents:
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|
566 exit() |
935430b1d408
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567 return None |
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|
568 |
564
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|
569 def readline(f, commentCharacters = commentChar): |
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570 '''Modified readline function to skip comments |
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diff
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571 Can take a list of characters or a string (in will work in both)''' |
509
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parents:
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diff
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572 s = f.readline() |
564
36605d843be5
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573 while (len(s) > 0) and s[0] in commentCharacters: |
509
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|
574 s = f.readline() |
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|
575 return s.strip() |
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|
576 |
564
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577 def getLines(f, commentCharacters = commentChar): |
509
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578 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
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|
579 dataStrings = [] |
564
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changeset
|
580 s = readline(f, commentCharacters) |
509
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|
581 while len(s) > 0: |
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changeset
|
582 dataStrings += [s.strip()] |
564
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|
583 s = readline(f, commentCharacters) |
509
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parents:
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diff
changeset
|
584 return dataStrings |
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parents:
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|
585 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
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|
586 def writeList(filename, l): |
514
1ba618fb0f70
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
587 f = openCheck(filename, 'w') |
509
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|
588 for x in l: |
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parents:
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diff
changeset
|
589 f.write('{}\n'.format(x)) |
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parents:
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diff
changeset
|
590 f.close() |
935430b1d408
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parents:
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diff
changeset
|
591 |
564
36605d843be5
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parents:
552
diff
changeset
|
592 def loadListStrings(filename, commentCharacters = commentChar): |
514
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parents:
509
diff
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|
593 f = openCheck(filename, 'r') |
564
36605d843be5
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parents:
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diff
changeset
|
594 result = getLines(f, commentCharacters) |
509
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parents:
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diff
changeset
|
595 f.close() |
935430b1d408
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parents:
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diff
changeset
|
596 return result |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
597 |
564
36605d843be5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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552
diff
changeset
|
598 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = commentChar): |
509
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parents:
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diff
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|
599 values = [] |
564
36605d843be5
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|
600 for l in loadListStrings(filename, commentCharacters): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
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diff
changeset
|
601 if l.startswith(option): |
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diff
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|
602 values.append(l.split(delimiterChar)[1].strip()) |
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diff
changeset
|
603 return values |
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parents:
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|
604 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
605 class FakeSecHead(object): |
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606 '''Add fake section header [asection] |
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|
607 |
935430b1d408
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diff
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|
608 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788 |
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|
609 use read_file in Python 3.2+ |
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610 ''' |
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|
611 def __init__(self, fp): |
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612 self.fp = fp |
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613 self.sechead = '[main]\n' |
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parents:
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diff
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|
614 |
935430b1d408
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|
615 def readline(self): |
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changeset
|
616 if self.sechead: |
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|
617 try: return self.sechead |
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618 finally: self.sechead = None |
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619 else: return self.fp.readline() |
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diff
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|
620 |
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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diff
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|
621 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None): |
525
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|
622 '''Reads data from VISSIM .fzp trajectory file |
527
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diff
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623 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
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diff
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624 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
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diff
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|
625 so simulationStepsPerTimeUnit should be 5, |
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diff
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|
626 so that all times correspond to the number of the simulation step (and can be stored as integers) |
525
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|
627 |
7124c7d2a663
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diff
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|
628 Assumed to be sorted over time''' |
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629 objects = {} # dictionary of objects index by their id |
541
048b43654870
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diff
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|
630 firstInstants = {} |
525
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|
631 |
564
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|
632 inputfile = openCheck(filename, quitting = True) |
525
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|
633 |
7124c7d2a663
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diff
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|
634 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
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diff
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|
635 # skip header: 15 lines + 1 |
564
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|
636 line = readline(inputfile, '*$') |
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diff
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|
637 while len(line) > 0:#for line in inputfile: |
525
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|
638 data = line.strip().split(';') |
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|
639 objNum = int(data[1]) |
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diff
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|
640 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
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|
641 s = float(data[4]) |
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|
642 y = float(data[5]) |
527
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diff
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|
643 lane = data[2]+'_'+data[3] |
541
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diff
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|
644 if objNum not in firstInstants: |
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|
645 firstInstants[objNum] = instant |
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diff
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|
646 if warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant: |
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diff
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|
647 if nObjects < 0 or len(objects) < nObjects: |
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diff
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|
648 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
048b43654870
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diff
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|
649 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
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diff
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|
650 if (warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant) and objNum in objects: |
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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diff
changeset
|
651 objects[objNum].timeInterval.last = instant |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
541
diff
changeset
|
652 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
564
36605d843be5
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parents:
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diff
changeset
|
653 line = readline(inputfile, '*$') |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
654 |
525
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|
655 return objects.values() |
524
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656 |
173
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function name change
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657 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
0
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658 '''Reads data from the trajectory data provided by NGSIM project |
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659 and returns the list of Feature objects''' |
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660 objects = [] |
0
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661 |
564
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662 inputfile = openCheck(filename, quitting = True) |
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663 |
7
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664 def createObject(numbers): |
0
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665 firstFrameNum = int(numbers[1]) |
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666 # do the geometry and usertype |
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667 |
72
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668 firstFrameNum = int(numbers[1]) |
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669 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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670 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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671 obj = moving.MovingObject(num = int(numbers[0]), |
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672 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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673 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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674 userType = int(numbers[10])) |
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675 obj.userType = int(numbers[10]) |
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676 obj.laneNums = [int(numbers[13])] |
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677 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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678 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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679 obj.spaceHeadways = [float(numbers[16])] # feet |
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680 obj.timeHeadways = [float(numbers[17])] # seconds |
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681 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
72
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682 obj.speeds = [float(numbers[11])] |
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683 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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|
684 return obj |
0
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685 |
564
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686 numbers = readline(inputfile).strip().split() |
0
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687 if (len(numbers) > 0): |
7
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|
688 obj = createObject(numbers) |
0
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689 |
564
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diff
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690 for line in inputfile: |
0
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691 numbers = line.strip().split() |
329
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diff
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692 if obj.getNum() != int(numbers[0]): |
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693 # check and adapt the length to deal with issues in NGSIM data |
72
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|
694 if (obj.length() != obj.positions.length()): |
329
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diff
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695 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
72
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diff
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696 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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diff
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697 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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|
698 objects.append(obj) |
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|
699 if (nObjects>0) and (len(objects)>=nObjects): |
0
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700 break |
7
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diff
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|
701 obj = createObject(numbers) |
0
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diff
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|
702 else: |
327
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diff
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|
703 obj.laneNums.append(int(numbers[13])) |
72
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diff
changeset
|
704 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
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parents:
541
diff
changeset
|
705 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
72
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diff
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|
706 obj.speeds.append(float(numbers[11])) |
78
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diff
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707 obj.precedingVehicles.append(int(numbers[14])) |
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diff
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|
708 obj.followingVehicles.append(int(numbers[15])) |
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72
diff
changeset
|
709 obj.spaceHeadways.append(float(numbers[16])) |
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72
diff
changeset
|
710 obj.timeHeadways.append(float(numbers[17])) |
7
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0
diff
changeset
|
711 |
72
575340e6fce3
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50
diff
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|
712 if (obj.size[0] != float(numbers[8])): |
329
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parents:
327
diff
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|
713 print 'changed length obj %d' % (obj.getNum()) |
72
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diff
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|
714 if (obj.size[1] != float(numbers[9])): |
329
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parents:
327
diff
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|
715 print 'changed width obj %d' % (obj.getNum()) |
0
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parents:
diff
changeset
|
716 |
564
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
717 inputfile.close() |
7
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Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
718 return objects |
0
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diff
changeset
|
719 |
564
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parents:
552
diff
changeset
|
720 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
0
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diff
changeset
|
721 '''Reads data from the trajectory data provided by NGSIM project |
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diff
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|
722 and converts to our current format.''' |
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parents:
diff
changeset
|
723 if append: |
564
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diff
changeset
|
724 out = openCheck(outputfile,'a') |
0
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parents:
diff
changeset
|
725 else: |
564
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parents:
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diff
changeset
|
726 out = openCheck(outputfile,'w') |
0
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parents:
diff
changeset
|
727 nObjectsPerType = [0,0,0] |
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parents:
diff
changeset
|
728 |
564
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diff
changeset
|
729 features = loadNgsimFile(inputfile, sequenceNum) |
0
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parents:
diff
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|
730 for f in features: |
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parents:
diff
changeset
|
731 nObjectsPerType[f.userType-1] += 1 |
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parents:
diff
changeset
|
732 f.write(out) |
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parents:
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|
733 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
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|
734 print nObjectsPerType |
aed8eb63cdde
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parents:
diff
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|
735 |
aed8eb63cdde
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parents:
diff
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736 out.close() |
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parents:
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changeset
|
737 |
335
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parents:
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diff
changeset
|
738 def writePositionsToCsv(f, obj): |
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parents:
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diff
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739 timeInterval = obj.getTimeInterval() |
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diff
changeset
|
740 positions = obj.getPositions() |
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diff
changeset
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741 curvilinearPositions = obj.getCurvilinearPositions() |
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parents:
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diff
changeset
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742 for i in xrange(int(obj.length())): |
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parents:
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diff
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743 p1 = positions[i] |
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diff
changeset
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744 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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parents:
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diff
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745 if curvilinearPositions != None: |
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parents:
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diff
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746 p2 = curvilinearPositions[i] |
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diff
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747 s += ',{},{}'.format(p2[0],p2[1]) |
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diff
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748 f.write(s+'\n') |
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parents:
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diff
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749 |
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parents:
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diff
changeset
|
750 def writeTrajectoriesToCsv(filename, objects): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
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parents:
509
diff
changeset
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751 f = openCheck(filename, 'w') |
335
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752 for i,obj in enumerate(objects): |
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753 writePositionsToCsv(f, obj) |
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754 f.close() |
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parents:
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diff
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|
755 |
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
|
756 |
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
491
diff
changeset
|
757 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
491
diff
changeset
|
758 # Utils to read .ini type text files for configuration, meta data... |
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parents:
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diff
changeset
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759 ######################### |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
760 |
536
95276d310972
renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
761 class ProcessParameters: |
537
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work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
762 '''Class for all parameters controlling data processing: input, |
6c264b914846
work on classification parameters
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parents:
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diff
changeset
|
763 method parameters, etc. for tracking, classification and safety |
509
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764 |
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765 Note: framerate is already taken into account''' |
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766 |
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767 def loadConfigFile(self, filename): |
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768 from ConfigParser import ConfigParser |
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769 from numpy import loadtxt |
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770 from os import path |
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771 |
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772 config = ConfigParser() |
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773 config.readfp(FakeSecHead(openCheck(filename))) |
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774 self.sectionHeader = config.sections()[0] |
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775 # Tracking/display parameters |
509
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776 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
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777 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
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778 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
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779 if (path.exists(self.homographyFilename)): |
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780 self.homography = loadtxt(self.homographyFilename) |
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781 else: |
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782 self.homography = None |
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783 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
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784 if (path.exists(self.intrinsicCameraFilename)): |
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785 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
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786 else: |
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787 self.intrinsicCameraMatrix = None |
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788 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
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789 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
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790 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
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791 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
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792 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
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793 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
377 | 794 |
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795 # Classification parameters |
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796 |
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797 |
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798 # Safety parameters |
509
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799 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
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800 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
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801 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
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802 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
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803 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
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804 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
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805 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
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806 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
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807 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
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808 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
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809 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
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810 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
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811 |
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812 def __init__(self, filename = None): |
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813 if filename != None: |
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814 self.loadConfigFile(filename) |
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815 |
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816 class SceneParameters: |
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817 def __init__(self, config, sectionName): |
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818 from ConfigParser import NoOptionError |
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819 from ast import literal_eval |
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820 try: |
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821 self.sitename = config.get(sectionName, 'sitename') |
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822 self.databaseFilename = config.get(sectionName, 'data-filename') |
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823 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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824 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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825 self.videoFilename = config.get(sectionName, 'video-filename') |
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826 self.frameRate = config.getfloat(sectionName, 'framerate') |
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827 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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828 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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829 self.rotation = config.getfloat(sectionName, 'rotation') |
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830 self.duration = config.getint(sectionName, 'duration') |
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831 except NoOptionError as e: |
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832 print(e) |
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833 print('Not a section for scene meta-data') |
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834 |
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835 @staticmethod |
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836 def loadConfigFile(filename): |
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837 from ConfigParser import ConfigParser |
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838 config = ConfigParser() |
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839 config.readfp(openCheck(filename)) |
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840 configDict = dict() |
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841 for sectionName in config.sections(): |
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842 configDict[sectionName] = SceneParameters(config, sectionName) |
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843 return configDict |
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844 |
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845 |
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846 if __name__ == "__main__": |
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847 import doctest |
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848 import unittest |
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849 suite = doctest.DocFileSuite('tests/storage.txt') |
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850 unittest.TextTestRunner().run(suite) |
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851 # #doctest.testmod() |
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852 # #doctest.testfile("example.txt") |