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annotate python/storage.py @ 514:1ba618fb0f70

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corrected bug from merging and argument issue in display-trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 05 Jun 2014 17:50:42 -0400
parents 935430b1d408
children 1dced8932b08
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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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11
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12 commentChar = '#'
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13
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14 delimiterChar = '%';
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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 # IO to sqlite
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38 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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39 """
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40 This function writers trajectories to a specified sqlite file
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41 @param[in] objects -> a list of trajectories
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42 @param[in] trajectoryType -
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43 @param[out] outFile -> the .sqlite file containting the written objects
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44 @param[in] objectNumber : number of objects loaded
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45 """
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46 connection = sqlite3.connect(outFilename)
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47 cursor = connection.cursor()
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48
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49 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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50 cursor.execute(schema)
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51
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52 trajectory_id = 0
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53 frame_number = 0
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54 if trajectoryType == 'feature':
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55 if type(objectNumbers) == int and objectNumbers == -1:
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56 for trajectory in objects:
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57 trajectory_id += 1
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58 frame_number = 0
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59 for position in trajectory.getPositions():
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60 frame_number += 1
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61 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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62 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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63
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64 connection.commit()
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65 connection.close()
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66
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67 def setRoadUserTypes(filename, objects):
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68 '''Saves the user types of the objects in the sqlite database stored in filename
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69 The objects should exist in the objects table'''
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70 connection = sqlite3.connect(filename)
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71 cursor = connection.cursor()
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72 for obj in objects:
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73 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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74 connection.commit()
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75 connection.close()
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76
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77 def loadPrototypeMatchIndexesFromSqlite(filename):
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78 """
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79 This function loads the prototypes table in the database of name <filename>.
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80 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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81 """
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82 matched_indexes = []
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83
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84 connection = sqlite3.connect(filename)
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85 cursor = connection.cursor()
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86
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87 try:
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88 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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89 except sqlite3.OperationalError as error:
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90 printDBError(error)
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91 return []
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92
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93 for row in cursor:
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94 matched_indexes.append((row[0],row[1]))
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95
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96 connection.close()
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97 return matched_indexes
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98
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99 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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100 if trajectoryType == 'feature':
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101 statementBeginning = 'where trajectory_id '
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102 elif trajectoryType == 'object':
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103 statementBeginning = 'and OF.object_id '
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104 else:
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105 print('no trajectory type was chosen')
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106
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107 if type(objectNumbers) == int:
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108 if objectNumbers == -1:
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109 query = ''
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110 else:
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111 query = statementBeginning+'between 0 and {0} '.format(objectNumbers)
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112 elif type(objectNumbers) == list:
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113 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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114 return query
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115
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116 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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117 '''Loads trajectories (in the general sense) from the given table
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118 can be positions or velocities
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119
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120 returns a moving object'''
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121 cursor = connection.cursor()
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122
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123 try:
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124 if trajectoryType == 'feature':
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125 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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126 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number'
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127 cursor.execute(queryStatement)
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128 logging.debug(queryStatement)
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129 elif trajectoryType == 'object':
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130 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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131 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number'
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diff changeset
132 cursor.execute(queryStatement)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
133 logging.debug(queryStatement)
215
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
134 else:
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parents: 212
diff changeset
135 print('no trajectory type was chosen')
342
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
136 except sqlite3.OperationalError as error:
491
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
137 printDBError(error)
215
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
138 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
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parents: 235
diff changeset
139
143
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parents: 78
diff changeset
140 objId = -1
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parents: 78
diff changeset
141 obj = None
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parents: 78
diff changeset
142 objects = []
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parents: 78
diff changeset
143 for row in cursor:
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parents: 78
diff changeset
144 if row[0] != objId:
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parents: 78
diff changeset
145 objId = row[0]
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parents: 78
diff changeset
146 if obj:
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parents: 78
diff changeset
147 objects.append(obj)
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parents: 78
diff changeset
148 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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parents: 78
diff changeset
149 else:
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
150 obj.timeInterval.last = row[1]
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parents: 78
diff changeset
151 obj.positions.addPositionXY(row[2],row[3])
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parents: 78
diff changeset
152
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
153 if obj:
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parents: 78
diff changeset
154 objects.append(obj)
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parents: 78
diff changeset
155
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
156 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
157
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
158 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
159 '''Loads nObjects or the indices in objectNumbers from the database'''
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
160 connection = sqlite3.connect(filename) # add test if it open
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
161
93c26e45efd8 modified functions to read velocities from sqlite database
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parents: 235
diff changeset
162 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
163 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
164
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
165 if len(objectVelocities) > 0:
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
166 for o,v in zip(objects, objectVelocities):
329
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
167 if o.getNum() == v.getNum():
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
168 o.velocities = v.positions
343
74e437ab5f11 first version of indicator loading code
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diff changeset
169 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
170 else:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
171 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
172
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
173 if trajectoryType == 'object':
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
174 cursor = connection.cursor()
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
175 try:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
176 # attribute feature numbers to objects
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
177 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
178 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
179 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
180 logging.debug(queryStatement)
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
181
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
182 featureNumbers = {}
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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parents: 259
diff changeset
183 for row in cursor:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
184 objId = row[1]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
185 if objId not in featureNumbers:
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
186 featureNumbers[objId] = [row[0]]
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
187 else:
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
188 featureNumbers[objId].append(row[0])
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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parents: 259
diff changeset
189
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
190 for obj in objects:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
191 obj.featureNumbers = featureNumbers[obj.getNum()]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
192
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
193 # load userType
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
194 if objectIdQuery == '':
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
195 cursor.execute('SELECT object_id, road_user_type from objects')
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
196 else:
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
197 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
198 userTypes = {}
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
199 for row in cursor:
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
200 userTypes[row[0]] = row[1]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
201
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
202 for obj in objects:
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
203 obj.userType = userTypes[obj.getNum()]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
204
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
205 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
206 printDBError(error)
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
207 return []
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
208
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
209 connection.close()
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
210 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
211
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
212 def removeFromSqlite(filename, dataType):
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
213 'Removes some tables in the filename depending on type of data'
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
214 import os
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
215 if os.path.isfile(filename):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
216 connection = sqlite3.connect(filename)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
217 if dataType == 'object':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
218 dropTables(connection, ['objects', 'objects_features'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
219 elif dataType == 'interaction':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
220 dropTables(connection, ['interactions', 'indicators'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
221 elif dataType == 'bb':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
222 dropTables(connection, ['bounding_boxes'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
223 else:
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
224 print('Unknown data type {} to delete from database'.format(dataType))
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
225 connection.close()
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
226 else:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
227 print('{} does not exist'.format(filename))
235
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 218
diff changeset
228
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
229 def createInteractionTable(cursor):
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
230 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))')
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
231
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
232 def createIndicatorTables(cursor):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
233 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
234 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))')
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
235 cursor.execute('CREATE TABLE IF NOT EXISTS indicators (interaction_id INTEGER, indicator_type INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(interaction_id) REFERENCES interactions(id), PRIMARY KEY(interaction_id, indicator_type, frame_number))')
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
236
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
237 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
238 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
239 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant()))
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
240
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
241 def saveInteractions(filename, interactions):
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
242 'Saves the interactions in the table'
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
243 connection = sqlite3.connect(filename)
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
244 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
245 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
246 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
247 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
248 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
249 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
250 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
251 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
252 connection.close()
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
253
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
254 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
255 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
256 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
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diff changeset
257 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant]))
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parents: 340
diff changeset
258
343
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diff changeset
259 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames):
340
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parents: 335
diff changeset
260 'Saves the indicator values in the table'
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parents: 335
diff changeset
261 connection = sqlite3.connect(filename)
341
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parents: 340
diff changeset
262 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
263 try:
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
264 createInteractionTable(cursor)
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parents: 341
diff changeset
265 createIndicatorTables(cursor)
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parents: 341
diff changeset
266 for inter in interactions:
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parents: 341
diff changeset
267 saveInteraction(cursor, inter)
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parents: 341
diff changeset
268 for indicatorName in indicatorNames:
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parents: 341
diff changeset
269 indicator = inter.getIndicator(indicatorName)
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parents: 341
diff changeset
270 if indicator != None:
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parents: 341
diff changeset
271 saveIndicator(cursor, inter.getNum(), indicator)
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parents: 341
diff changeset
272 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
273 printDBError(error)
341
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
274 connection.commit()
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
275 connection.close()
340
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parents: 335
diff changeset
276
482
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diff changeset
277 def loadInteractions(filename):
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parents: 417
diff changeset
278 '''Loads interaction and their indicators
343
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diff changeset
279
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diff changeset
280 TODO choose the interactions to load'''
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diff changeset
281 interactions = []
342
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diff changeset
282 connection = sqlite3.connect(filename)
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parents: 341
diff changeset
283 cursor = connection.cursor()
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parents: 341
diff changeset
284 try:
343
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diff changeset
285 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type')
342
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parents: 341
diff changeset
286 interactionNum = -1
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parents: 341
diff changeset
287 indicatorTypeNum = -1
343
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diff changeset
288 tmpIndicators = {}
342
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diff changeset
289 for row in cursor:
343
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diff changeset
290 if row[0] != interactionNum: # save interaction and create new interaction
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diff changeset
291 if interactionNum >= 0:
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diff changeset
292 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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diff changeset
293 interactions[-1].indicators = tmpIndicators
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parents: 342
diff changeset
294 tmpIndicators = {}
342
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parents: 341
diff changeset
295 interactionNum = row[0]
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parents: 341
diff changeset
296 roadUserNumbers = row[1:3]
343
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parents: 342
diff changeset
297 if indicatorTypeNum != row[5]:
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parents: 342
diff changeset
298 if indicatorTypeNum >= 0:
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parents: 342
diff changeset
299 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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parents: 342
diff changeset
300 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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parents: 342
diff changeset
301 indicatorTypeNum = row[5]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
302 indicatorValues = {row[6]:row[7]}
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
303 else:
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parents: 342
diff changeset
304 indicatorValues[row[6]] = row[7]
74e437ab5f11 first version of indicator loading code
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parents: 342
diff changeset
305 if interactionNum >= 0:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
306 if indicatorTypeNum >= 0:
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parents: 342
diff changeset
307 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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parents: 342
diff changeset
308 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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parents: 342
diff changeset
309 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
74e437ab5f11 first version of indicator loading code
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parents: 342
diff changeset
310 interactions[-1].indicators = tmpIndicators
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
311 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
312 printDBError(error)
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
313 return []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
314 connection.close()
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
315 return interactions
74e437ab5f11 first version of indicator loading code
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parents: 342
diff changeset
316 # load first and last object instants
74e437ab5f11 first version of indicator loading code
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parents: 342
diff changeset
317 # CREATE TEMP TABLE IF NOT EXISTS object_instants AS SELECT OF.object_id, min(frame_number) as first_instant, max(frame_number) as last_instant from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by OF.object_id order by OF.object_id
342
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
318
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
319 def createBoundingBoxTable(filename, invHomography = None):
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
320 '''Create the table to store the object bounding boxes in image space
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
321 '''
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
322 connection = sqlite3.connect(filename)
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
323 cursor = connection.cursor()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
324 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
325 cursor.execute('CREATE TABLE IF NOT EXISTS bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))')
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
326 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
327 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
328 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
329 'GROUP BY object_id, frame_number')
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
330 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
331 printDBError(error)
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
332 connection.commit()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
333 connection.close()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
334
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
335 def loadBoundingBoxTable(filename):
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
336 connection = sqlite3.connect(filename)
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
337 cursor = connection.cursor()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
338 boundingBoxes = {} # list of bounding boxes for each instant
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
339 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
340 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
341 result = [row for row in cursor]
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
342 if len(result) > 0:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
343 cursor.execute('SELECT * FROM bounding_boxes')
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
344 #objId = -1
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
345 for row in cursor:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
346 #if row[0] != objId:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
347 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
348 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
349 printDBError(error)
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
350 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
351 connection.close()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
352 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
353
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
354
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
355 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
356 # txt files
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
357 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
358
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
359 def openCheck(filename, option = 'r', quit = False):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
360 '''Open file filename in read mode by default
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
361 and checks it is open'''
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
362 try:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
363 return open(filename, option)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
364 except IOError:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
365 print 'File %s could not be opened.' % filename
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
366 if quit:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
367 from sys import exit
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
368 exit()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
369 return None
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
370
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
371 def readline(f, commentChar = commentChar):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
372 '''Modified readline function to skip comments.'''
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
373 s = f.readline()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
374 while (len(s) > 0) and s.startswith(commentChar):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
375 s = f.readline()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
376 return s.strip()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
377
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
378 def getLines(f, commentChar = commentChar):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
379 '''Gets a complete entry (all the lines) in between delimiterChar.'''
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
380 dataStrings = []
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
381 s = readline(f, commentChar)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
382 while len(s) > 0:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
383 dataStrings += [s.strip()]
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
384 s = readline(f, commentChar)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
385 return dataStrings
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
386
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
387 def writeList(filename, l):
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
388 f = openCheck(filename, 'w')
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
389 for x in l:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
390 f.write('{}\n'.format(x))
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
391 f.close()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
392
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
393 def loadListStrings(filename, commentChar = commentChar):
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
394 f = openCheck(filename, 'r')
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
395 result = getLines(f, commentChar)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
396 f.close()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
397 return result
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
398
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
399 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentChar = commentChar):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
400 values = []
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
401 for l in loadListStrings(filename, commentChar):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
402 if l.startswith(option):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
403 values.append(l.split(delimiterChar)[1].strip())
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
404 return values
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
405
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
406 class FakeSecHead(object):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
407 '''Add fake section header [asection]
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
408
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
409 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
410 use read_file in Python 3.2+
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
411 '''
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
412 def __init__(self, fp):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
413 self.fp = fp
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
414 self.sechead = '[main]\n'
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
415
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
416 def readline(self):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
417 if self.sechead:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
418 try: return self.sechead
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
419 finally: self.sechead = None
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
420 else: return self.fp.readline()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
421
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
422 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
423 '''Reads data from the trajectory data provided by NGSIM project
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
424 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
425 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
426
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
427 input = openCheck(filename)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
428 if not input:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
429 import sys
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
430 sys.exit()
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
431
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
432 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
433 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
434 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
435
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
436 firstFrameNum = int(numbers[1])
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
437 lastFrameNum = firstFrameNum+int(numbers[2])-1
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
438 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
439 obj = moving.MovingObject(num = int(numbers[0]),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
440 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
441 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
442 userType = int(numbers[10]))
78
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
443 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
444 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
445 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
446 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
447 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
448 obj.timeHeadways = [float(numbers[17])] # seconds
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
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parents: 326
diff changeset
449 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
450 obj.speeds = [float(numbers[11])]
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
451 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
452 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
453
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
454 numbers = input.readline().strip().split()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
455 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
456 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
457
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
458 for line in input:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
459 numbers = line.strip().split()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
460 if obj.getNum() != int(numbers[0]):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
461 # check and adapt the length to deal with issues in NGSIM data
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
462 if (obj.length() != obj.positions.length()):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
463 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
464 obj.last = obj.getFirstInstant()+obj.positions.length()-1
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
465 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
466 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
467 if (nObjects>0) and (len(objects)>=nObjects):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
468 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
469 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
470 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
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parents: 326
diff changeset
471 obj.laneNums.append(int(numbers[13]))
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
472 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
473 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
474 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
475 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
476 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
477 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
478 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
479
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
480 if (obj.size[0] != float(numbers[8])):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
481 print 'changed length obj %d' % (obj.getNum())
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
482 if (obj.size[1] != float(numbers[9])):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
483 print 'changed width obj %d' % (obj.getNum())
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
484
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
485 input.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
486 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
487
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
488 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
489 '''Reads data from the trajectory data provided by NGSIM project
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
490 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
491 if append:
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
492 out = openCheck(outFile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
493 else:
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
494 out = openCheck(outFile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
495 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
496
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
497 features = loadNgsimFile(inFile, sequenceNum)
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
498 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
499 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
500 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
501
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
502 print nObjectsPerType
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parents:
diff changeset
503
aed8eb63cdde initial commit with non-functional python code for NGSIM
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diff changeset
504 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
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diff changeset
505
335
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diff changeset
506 def writePositionsToCsv(f, obj):
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diff changeset
507 timeInterval = obj.getTimeInterval()
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508 positions = obj.getPositions()
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509 curvilinearPositions = obj.getCurvilinearPositions()
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510 for i in xrange(int(obj.length())):
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diff changeset
511 p1 = positions[i]
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512 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
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diff changeset
513 if curvilinearPositions != None:
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diff changeset
514 p2 = curvilinearPositions[i]
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diff changeset
515 s += ',{},{}'.format(p2[0],p2[1])
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diff changeset
516 f.write(s+'\n')
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diff changeset
517
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diff changeset
518 def writeTrajectoriesToCsv(filename, objects):
514
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diff changeset
519 f = openCheck(filename, 'w')
335
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diff changeset
520 for i,obj in enumerate(objects):
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diff changeset
521 writePositionsToCsv(f, obj)
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diff changeset
522 f.close()
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diff changeset
523
509
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diff changeset
524
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diff changeset
525 #########################
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diff changeset
526 # Utils to read .ini type text files for configuration, meta data...
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diff changeset
527 #########################
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diff changeset
528
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diff changeset
529 class TrackingParameters:
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diff changeset
530 '''Class for tracking and safety parameters
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diff changeset
531
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diff changeset
532 Note: framerate is already taken into account'''
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diff changeset
533
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diff changeset
534 def loadConfigFile(self, filename):
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diff changeset
535 from ConfigParser import ConfigParser
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diff changeset
536 from numpy import loadtxt
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diff changeset
537 from os import path
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diff changeset
538
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parents: 491
diff changeset
539 config = ConfigParser()
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diff changeset
540 config.readfp(FakeSecHead(openCheck(filename)))
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diff changeset
541 self.sectionHeader = config.sections()[0]
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parents: 491
diff changeset
542 self.videoFilename = config.get(self.sectionHeader, 'video-filename')
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parents: 491
diff changeset
543 self.databaseFilename = config.get(self.sectionHeader, 'database-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
544 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
545 if (path.exists(self.homographyFilename)):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
546 self.homography = loadtxt(self.homographyFilename)
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diff changeset
547 else:
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diff changeset
548 self.homography = None
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diff changeset
549 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
550 if (path.exists(self.intrinsicCameraFilename)):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
551 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename)
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parents: 491
diff changeset
552 else:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 491
diff changeset
553 self.intrinsicCameraMatrix = None
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
554 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
555 self.distortionCoefficients = [float(x) for x in distortionCoefficients]
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parents: 491
diff changeset
556 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
557 self.undistort = config.getboolean(self.sectionHeader, 'undistort')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 491
diff changeset
558 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
559 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
377
2aed569f39e7 added utils
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parents: 344
diff changeset
560
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
561 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
562 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
563 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
564 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
565 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
566 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
567 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
568 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
569 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
570 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
571 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
572 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
573
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
574 def __init__(self, filename = None):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 491
diff changeset
575 if filename != None:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 491
diff changeset
576 self.loadConfigFile(filename)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
577
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
578 class SceneParameters:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
579 def __init__(self, config, sectionName):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
580 from ConfigParser import NoOptionError
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
581 from ast import literal_eval
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
582 try:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
583 self.sitename = config.get(sectionName, 'sitename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
584 self.databaseFilename = config.get(sectionName, 'data-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
585 self.homographyFilename = config.get(sectionName, 'homography-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
586 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
587 self.videoFilename = config.get(sectionName, 'video-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
588 self.frameRate = config.getfloat(sectionName, 'framerate')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
589 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
590 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
591 self.rotation = config.getfloat(sectionName, 'rotation')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
592 self.duration = config.getint(sectionName, 'duration')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
593 except NoOptionError as e:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
594 print(e)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
595 print('Not a section for scene meta-data')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
596
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
597 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
598 def loadConfigFile(filename):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
599 from ConfigParser import ConfigParser
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
600 config = ConfigParser()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
601 config.readfp(openCheck(filename))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
602 configDict = dict()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
603 for sectionName in config.sections():
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
604 configDict[sectionName] = SceneParameters(config, sectionName)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
605 return configDict
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
606
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
607
215
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
608 if __name__ == "__main__":
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
609 import doctest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
610 import unittest
5e2983b05d4e created first doctest tests for storage
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parents: 212
diff changeset
611 suite = doctest.DocFileSuite('tests/storage.txt')
5e2983b05d4e created first doctest tests for storage
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parents: 212
diff changeset
612 unittest.TextTestRunner().run(suite)
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
613 # #doctest.testmod()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
614 # #doctest.testfile("example.txt")