Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 712:21aeadcfbabb
added script to test SQLite performance and impact of indices
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 23 Jul 2015 01:13:32 -0400 |
parents | 523eda2fafd4 |
children | d6c69d3d09e5 |
rev | line source |
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1 #! /usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 '''Various utilities to save and load data''' |
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4 |
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5 import utils, moving, events, indicators |
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6 from base import VideoFilenameAddable |
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7 |
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8 import sqlite3, logging |
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9 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt |
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10 |
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11 |
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12 commentChar = '#' |
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13 |
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14 delimiterChar = '%'; |
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50 | 16 ngsimUserTypes = {'twowheels':1, |
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17 'car':2, |
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18 'truck':3} |
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19 |
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20 ######################### |
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21 # Sqlite |
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22 ######################### |
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23 |
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24 # utils |
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25 def printDBError(error): |
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26 print('DB Error: {}'.format(error)) |
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27 |
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28 def dropTables(connection, tableNames): |
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29 'deletes the table with names in tableNames' |
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30 try: |
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31 cursor = connection.cursor() |
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32 for tableName in tableNames: |
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33 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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34 except sqlite3.OperationalError as error: |
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35 printDBError(error) |
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36 |
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37 def createIndex(filename, tableName, columnName, createAnyway = False): |
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38 '''Creates an index for the column in the table |
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39 I will make querying with a condition on this column faster''' |
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40 try: |
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41 connection = sqlite3.connect(filename) |
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42 cursor = connection.cursor() |
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43 if createAnyway: |
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44 notExists = "" |
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45 else: |
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46 notExists = "IF NOT EXISTS " |
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47 cursor.execute("CREATE INDEX "+notExists+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")") |
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48 connection.commit() |
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49 connection.close() |
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50 except sqlite3.OperationalError as error: |
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51 printDBError(error) |
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52 |
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53 # TODO: add test if database connection is open |
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54 # IO to sqlite |
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55 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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56 """ |
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57 This function writers trajectories to a specified sqlite file |
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58 @param[in] objects -> a list of trajectories |
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59 @param[in] trajectoryType - |
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60 @param[out] outputFilename -> the .sqlite file containting the written objects |
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61 @param[in] objectNumber : number of objects loaded |
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62 """ |
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63 connection = sqlite3.connect(outputFilename) |
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64 cursor = connection.cursor() |
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65 |
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66 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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67 cursor.execute(schema) |
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68 |
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69 trajectory_id = 0 |
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70 frame_number = 0 |
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71 if trajectoryType == 'feature': |
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72 if type(objectNumbers) == int and objectNumbers == -1: |
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73 for trajectory in objects: |
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74 trajectory_id += 1 |
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75 frame_number = 0 |
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76 for position in trajectory.getPositions(): |
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77 frame_number += 1 |
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78 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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79 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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80 |
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81 connection.commit() |
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82 connection.close() |
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83 |
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84 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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85 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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86 connection = sqlite3.connect(outputFilename) |
546 | 87 cursor = connection.cursor() |
88 | |
89 cursor.execute("CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
90 cursor.execute("CREATE TABLE IF NOT EXISTS \"velocities\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
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91 |
546 | 92 if trajectoryType == 'feature': |
93 if type(objectNumbers) == int and objectNumbers == -1: | |
94 for trajectory in objects: | |
95 trajectory_id = trajectory.num | |
96 frame_number = trajectory.timeInterval.first | |
97 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): | |
98 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y)) | |
99 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y)) | |
100 frame_number += 1 | |
101 | |
102 connection.commit() | |
103 connection.close() | |
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104 |
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105 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
546 | 106 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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107 connection = sqlite3.connect(outputFilename) |
546 | 108 cursor = connection.cursor() |
109 | |
110 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))") | |
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111 |
546 | 112 for route in prototypes.keys(): |
113 if prototypes[route]!=[]: | |
114 for i in prototypes[route]: | |
115 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) | |
116 | |
117 connection.commit() | |
118 connection.close() | |
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119 |
546 | 120 def loadPrototypesFromSqlite(filename): |
121 """ | |
122 This function loads the prototype file in the database | |
123 It returns a dictionary for prototypes for each route and nMatching | |
124 """ | |
125 prototypes = {} | |
126 nMatching={} | |
127 | |
128 connection = sqlite3.connect(filename) | |
129 cursor = connection.cursor() | |
130 | |
131 try: | |
132 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') | |
133 except sqlite3.OperationalError as error: | |
134 utils.printDBError(error) | |
135 return [] | |
136 | |
137 for row in cursor: | |
138 route=(row[1],row[2]) | |
139 if route not in prototypes.keys(): | |
140 prototypes[route]=[] | |
141 prototypes[route].append(row[0]) | |
142 nMatching[row[0]]=row[3] | |
143 | |
144 connection.close() | |
145 return prototypes,nMatching | |
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146 |
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147 def writeLabelsToSqlite(labels, outputFilename): |
546 | 148 """ labels is a dictionary with keys: routes, values: prototypes Ids |
149 """ | |
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150 connection = sqlite3.connect(outputFilename) |
546 | 151 cursor = connection.cursor() |
152 | |
153 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") | |
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154 |
546 | 155 for route in labels.keys(): |
156 if labels[route]!=[]: | |
157 for i in labels[route]: | |
158 for j in labels[route][i]: | |
159 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) | |
160 | |
161 connection.commit() | |
162 connection.close() | |
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163 |
546 | 164 def loadLabelsFromSqlite(filename): |
165 labels = {} | |
166 | |
167 connection = sqlite3.connect(filename) | |
168 cursor = connection.cursor() | |
169 | |
170 try: | |
171 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') | |
172 except sqlite3.OperationalError as error: | |
173 utils.printDBError(error) | |
174 return [] | |
175 | |
176 for row in cursor: | |
177 route=(row[1],row[2]) | |
178 p=row[3] | |
179 if route not in labels.keys(): | |
180 labels[route]={} | |
181 if p not in labels[route].keys(): | |
182 labels[route][p]=[] | |
183 labels[route][p].append(row[0]) | |
184 | |
185 connection.close() | |
186 return labels | |
607 | 187 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename): |
188 """ to match the format of second layer prototypes""" | |
189 connection = sqlite3.connect(outFilename) | |
190 cursor = connection.cursor() | |
191 | |
192 cursor.execute("CREATE TABLE IF NOT EXISTS \"speedprototypes\"(spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))") | |
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193 |
607 | 194 for route in prototypes.keys(): |
195 if prototypes[route]!={}: | |
196 for i in prototypes[route]: | |
197 if prototypes[route][i]!= []: | |
198 for j in prototypes[route][i]: | |
199 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j])) | |
200 | |
201 connection.commit() | |
202 connection.close() | |
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203 |
607 | 204 def loadSpeedPrototypeFromSqlite(filename): |
205 """ | |
206 This function loads the prototypes table in the database of name <filename>. | |
207 """ | |
208 prototypes = {} | |
209 nMatching={} | |
210 connection = sqlite3.connect(filename) | |
211 cursor = connection.cursor() | |
212 | |
213 try: | |
214 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching') | |
215 except sqlite3.OperationalError as error: | |
216 utils.printDBError(error) | |
217 return [] | |
218 | |
219 for row in cursor: | |
220 route=(row[2],row[3]) | |
221 if route not in prototypes.keys(): | |
222 prototypes[route]={} | |
223 if row[1] not in prototypes[route].keys(): | |
224 prototypes[route][row[1]]=[] | |
225 prototypes[route][row[1]].append(row[0]) | |
226 nMatching[row[0]]=row[4] | |
227 | |
228 connection.close() | |
229 return prototypes,nMatching | |
230 | |
546 | 231 |
564
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232 def writeRoutesToSqlite(Routes, outputFilename): |
546 | 233 """ This function writes the activity path define by start and end IDs""" |
564
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234 connection = sqlite3.connect(outputFilename) |
546 | 235 cursor = connection.cursor() |
236 | |
237 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") | |
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238 |
546 | 239 for route in Routes.keys(): |
240 if Routes[route]!=[]: | |
241 for i in Routes[route]: | |
242 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) | |
243 | |
244 connection.commit() | |
245 connection.close() | |
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246 |
546 | 247 def loadRoutesFromSqlite(filename): |
248 Routes = {} | |
249 | |
250 connection = sqlite3.connect(filename) | |
251 cursor = connection.cursor() | |
252 | |
253 try: | |
254 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') | |
255 except sqlite3.OperationalError as error: | |
256 utils.printDBError(error) | |
257 return [] | |
258 | |
259 for row in cursor: | |
260 route=(row[1],row[2]) | |
261 if route not in Routes.keys(): | |
262 Routes[route]=[] | |
263 Routes[route].append(row[0]) | |
264 | |
265 connection.close() | |
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266 return Routes |
546 | 267 |
268 def setRoutes(filename, objects): | |
269 connection = sqlite3.connect(filename) | |
270 cursor = connection.cursor() | |
271 for obj in objects: | |
272 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum())) | |
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273 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum())) |
546 | 274 connection.commit() |
275 connection.close() | |
329
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276 |
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277 def setRoadUserTypes(filename, objects): |
330
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278 '''Saves the user types of the objects in the sqlite database stored in filename |
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279 The objects should exist in the objects table''' |
329
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280 connection = sqlite3.connect(filename) |
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281 cursor = connection.cursor() |
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282 for obj in objects: |
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283 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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284 connection.commit() |
208
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285 connection.close() |
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286 |
209
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287 def loadPrototypeMatchIndexesFromSqlite(filename): |
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288 """ |
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289 This function loads the prototypes table in the database of name <filename>. |
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290 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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291 """ |
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292 matched_indexes = [] |
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293 |
211 | 294 connection = sqlite3.connect(filename) |
209
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295 cursor = connection.cursor() |
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296 |
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297 try: |
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298 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
342
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diff
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299 except sqlite3.OperationalError as error: |
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300 printDBError(error) |
215
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301 return [] |
209
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302 |
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303 for row in cursor: |
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304 matched_indexes.append((row[0],row[1])) |
211 | 305 |
306 connection.close() | |
209
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307 return matched_indexes |
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308 |
693
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309 def getObjectCriteria(objectNumbers): |
585
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310 if objectNumbers is None: |
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311 query = '' |
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312 elif type(objectNumbers) == int: |
693
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313 query = 'between 0 and {0}'.format(objectNumbers-1) |
263
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314 elif type(objectNumbers) == list: |
693
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315 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')' |
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316 else: |
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317 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers))) |
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318 query = '' |
263
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319 return query |
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320 |
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321 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None): |
239
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diff
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322 '''Loads trajectories (in the general sense) from the given table |
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diff
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323 can be positions or velocities |
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diff
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324 |
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diff
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325 returns a moving object''' |
143
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diff
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|
326 cursor = connection.cursor() |
204
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diff
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327 |
215
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328 try: |
693
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changeset
|
329 objectCriteria = getObjectCriteria(objectNumbers) |
215
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330 if trajectoryType == 'feature': |
693
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331 queryStatement = 'SELECT * from '+tableName |
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332 if objectNumbers is not None: |
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333 queryStatement += ' where trajectory_id '+objectCriteria |
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|
334 queryStatement += ' ORDER BY trajectory_id, frame_number' |
417
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diff
changeset
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335 cursor.execute(queryStatement) |
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diff
changeset
|
336 logging.debug(queryStatement) |
215
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337 elif trajectoryType == 'object': |
693
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changeset
|
338 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' |
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339 if objectNumbers is not None: |
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|
340 queryStatement += ' and OF.object_id '+objectCriteria |
712
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diff
changeset
|
341 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number' |
587
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added code to load bounding box corners as trajectories
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586
diff
changeset
|
342 cursor.execute(queryStatement) |
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586
diff
changeset
|
343 logging.debug(queryStatement) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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587
diff
changeset
|
344 elif trajectoryType in ['bbtop', 'bbbottom']: |
587
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586
diff
changeset
|
345 if trajectoryType == 'bbtop': |
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diff
changeset
|
346 corner = 'top_left' |
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diff
changeset
|
347 elif trajectoryType == 'bbbottom': |
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diff
changeset
|
348 corner = 'bottom_right' |
693
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diff
changeset
|
349 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName |
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diff
changeset
|
350 if objectNumbers is not None: |
712
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changeset
|
351 queryStatement += ' WHERE object_id '+objectCriteria |
693
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diff
changeset
|
352 queryStatement += ' ORDER BY object_id, frame_number' |
417
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diff
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353 cursor.execute(queryStatement) |
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diff
changeset
|
354 logging.debug(queryStatement) |
215
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|
355 else: |
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changeset
|
356 print('no trajectory type was chosen') |
342
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341
diff
changeset
|
357 except sqlite3.OperationalError as error: |
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358 printDBError(error) |
215
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359 return [] |
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360 |
143
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361 objId = -1 |
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362 obj = None |
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363 objects = [] |
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364 for row in cursor: |
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365 if row[0] != objId: |
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366 objId = row[0] |
636
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367 if obj is not None and obj.length() == obj.positions.length(): |
143
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368 objects.append(obj) |
636
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diff
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369 elif obj is not None: |
588
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370 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
143
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371 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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372 else: |
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373 obj.timeInterval.last = row[1] |
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374 obj.positions.addPositionXY(row[2],row[3]) |
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375 |
636
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diff
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376 if obj is not None and obj.length() == obj.positions.length(): |
143
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377 objects.append(obj) |
636
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378 elif obj is not None: |
588
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379 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
143
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380 |
239
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381 return objects |
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382 |
588
c5406edbcf12
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383 def loadUserTypesFromTable(cursor, trajectoryType, objectNumbers): |
693
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diff
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|
384 objectCriteria = getObjectCriteria(objectNumbers) |
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diff
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385 queryStatement = 'SELECT object_id, road_user_type from objects' |
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parents:
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diff
changeset
|
386 if objectNumbers is not None: |
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parents:
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diff
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|
387 queryStatement += ' where object_id '+objectCriteria |
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changeset
|
388 cursor.execute(queryStatement) |
588
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parents:
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diff
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389 userTypes = {} |
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diff
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390 for row in cursor: |
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391 userTypes[row[0]] = row[1] |
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392 return userTypes |
c5406edbcf12
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|
393 |
685
94b291a5f933
several updates for display
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parents:
680
diff
changeset
|
394 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False): |
585
aab2242ea88c
minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
584
diff
changeset
|
395 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database''' |
588
c5406edbcf12
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diff
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|
396 connection = sqlite3.connect(filename) |
239
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diff
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|
397 |
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398 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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399 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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parents:
235
diff
changeset
|
400 |
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parents:
235
diff
changeset
|
401 if len(objectVelocities) > 0: |
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modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
235
diff
changeset
|
402 for o,v in zip(objects, objectVelocities): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
403 if o.getNum() == v.getNum(): |
239
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modified functions to read velocities from sqlite database
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parents:
235
diff
changeset
|
404 o.velocities = v.positions |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
405 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
239
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modified functions to read velocities from sqlite database
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406 else: |
329
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added sqlite code, in particular to load and save road user type
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|
407 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
239
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
408 |
263
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
409 if trajectoryType == 'object': |
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
|
410 cursor = connection.cursor() |
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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
|
411 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
|
412 # attribute feature numbers to objects |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
413 objectCriteria = getObjectCriteria(objectNumbers) |
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
414 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id' |
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
415 if objectNumbers is not None: |
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
416 queryStatement += ' and OF.object_id '+objectCriteria |
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
417 queryStatement += ' group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
417
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
418 cursor.execute(queryStatement) |
a2ff03a52b73
added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
394
diff
changeset
|
419 logging.debug(queryStatement) |
263
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diff
changeset
|
420 |
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diff
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|
421 featureNumbers = {} |
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reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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259
diff
changeset
|
422 for row in cursor: |
329
a70c205ebdd9
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
423 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
|
424 if objId not in featureNumbers: |
263
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diff
changeset
|
425 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
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parents:
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diff
changeset
|
426 else: |
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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diff
changeset
|
427 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
|
428 |
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
|
429 for obj in objects: |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
430 obj.featureNumbers = featureNumbers[obj.getNum()] |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
431 |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
432 # load userType |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
433 userTypes = loadUserTypesFromTable(cursor, trajectoryType, objectNumbers) |
329
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added sqlite code, in particular to load and save road user type
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parents:
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diff
changeset
|
434 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
|
435 obj.userType = userTypes[obj.getNum()] |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
436 |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
437 if withFeatures: |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
438 nFeatures = 0 |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
439 for obj in objects: |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
440 nFeatures = max(nFeatures, max(obj.featureNumbers)) |
702
f0a897d7f3a5
corrected bug when loading features with objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
695
diff
changeset
|
441 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1) |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
442 for obj in objects: |
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
443 obj.setFeatures(features) |
329
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
444 |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
445 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
446 printDBError(error) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
447 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
|
448 |
143
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
449 connection.close() |
436b87d4b992
wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
78
diff
changeset
|
450 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
451 |
589
5800a87f11ae
corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
588
diff
changeset
|
452 def loadGroundTruthFromSqlite(filename, gtType = 'bb', gtNumbers = None): |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
453 'Loads bounding box annotations (ground truth) from an SQLite ' |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
454 connection = sqlite3.connect(filename) |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
455 gt = [] |
c5406edbcf12
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parents:
587
diff
changeset
|
456 |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
457 if gtType == 'bb': |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
458 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', gtNumbers) |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
459 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', gtNumbers) |
c5406edbcf12
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parents:
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diff
changeset
|
460 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', gtNumbers) # string format is same as object |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
461 |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
587
diff
changeset
|
462 for t, b in zip(topCorners, bottomCorners): |
c5406edbcf12
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parents:
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diff
changeset
|
463 num = t.getNum() |
c5406edbcf12
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parents:
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diff
changeset
|
464 if t.getNum() == b.getNum(): |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
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parents:
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diff
changeset
|
465 annotation = moving.BBAnnotation(num, t.getTimeInterval(), t, b, userTypes[num]) |
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466 gt.append(annotation) |
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467 else: |
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468 print ('Unknown type of annotation {}'.format(gtType)) |
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469 |
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470 connection.close() |
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471 return gt |
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472 |
584
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renames removeFromSqlite to deleteFromSqlite
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473 def deleteFromSqlite(filename, dataType): |
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474 'Deletes (drops) some tables in the filename depending on type of data' |
491
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475 import os |
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476 if os.path.isfile(filename): |
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477 connection = sqlite3.connect(filename) |
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478 if dataType == 'object': |
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479 dropTables(connection, ['objects', 'objects_features']) |
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480 elif dataType == 'interaction': |
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481 dropTables(connection, ['interactions', 'indicators']) |
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482 elif dataType == 'bb': |
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483 dropTables(connection, ['bounding_boxes']) |
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484 else: |
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485 print('Unknown data type {} to delete from database'.format(dataType)) |
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486 connection.close() |
344
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slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
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487 else: |
491
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488 print('{} does not exist'.format(filename)) |
235
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489 |
341
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490 def createInteractionTable(cursor): |
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491 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))') |
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492 |
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493 def createIndicatorTables(cursor): |
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494 # 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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495 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))') |
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496 cursor.execute('CREATE TABLE IF NOT EXISTS indicators (interaction_id INTEGER, indicator_type INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(interaction_id) REFERENCES interactions(id), PRIMARY KEY(interaction_id, indicator_type, frame_number))') |
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497 |
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498 def saveInteraction(cursor, interaction): |
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499 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
343
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500 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
341
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501 |
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502 def saveInteractions(filename, interactions): |
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503 'Saves the interactions in the table' |
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504 connection = sqlite3.connect(filename) |
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505 cursor = connection.cursor() |
342
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|
506 try: |
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diff
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507 createInteractionTable(cursor) |
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diff
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|
508 for inter in interactions: |
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diff
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|
509 saveInteraction(cursor, inter) |
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diff
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|
510 except sqlite3.OperationalError as error: |
491
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diff
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|
511 printDBError(error) |
341
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diff
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|
512 connection.commit() |
340
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diff
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|
513 connection.close() |
1046b7346886
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diff
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|
514 |
341
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diff
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|
515 def saveIndicator(cursor, interactionNum, indicator): |
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340
diff
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|
516 for instant in indicator.getTimeInterval(): |
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parents:
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diff
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|
517 if indicator[instant]: |
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diff
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|
518 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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parents:
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diff
changeset
|
519 |
343
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parents:
342
diff
changeset
|
520 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
340
1046b7346886
work in progress on storing indicator values
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diff
changeset
|
521 'Saves the indicator values in the table' |
1046b7346886
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diff
changeset
|
522 connection = sqlite3.connect(filename) |
341
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parents:
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diff
changeset
|
523 cursor = connection.cursor() |
342
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parents:
341
diff
changeset
|
524 try: |
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parents:
341
diff
changeset
|
525 createInteractionTable(cursor) |
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diff
changeset
|
526 createIndicatorTables(cursor) |
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parents:
341
diff
changeset
|
527 for inter in interactions: |
4d69486869a5
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parents:
341
diff
changeset
|
528 saveInteraction(cursor, inter) |
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341
diff
changeset
|
529 for indicatorName in indicatorNames: |
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parents:
341
diff
changeset
|
530 indicator = inter.getIndicator(indicatorName) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
531 if indicator is not None: |
342
4d69486869a5
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parents:
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diff
changeset
|
532 saveIndicator(cursor, inter.getNum(), indicator) |
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parents:
341
diff
changeset
|
533 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
534 printDBError(error) |
341
2f39c4ed0b62
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diff
changeset
|
535 connection.commit() |
2f39c4ed0b62
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340
diff
changeset
|
536 connection.close() |
340
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parents:
335
diff
changeset
|
537 |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
538 def loadInteractions(filename): |
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
539 '''Loads interaction and their indicators |
343
74e437ab5f11
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
540 |
74e437ab5f11
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diff
changeset
|
541 TODO choose the interactions to load''' |
74e437ab5f11
first version of indicator loading code
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parents:
342
diff
changeset
|
542 interactions = [] |
342
4d69486869a5
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parents:
341
diff
changeset
|
543 connection = sqlite3.connect(filename) |
4d69486869a5
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parents:
341
diff
changeset
|
544 cursor = connection.cursor() |
4d69486869a5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
545 try: |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
546 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type, IND.frame_number') |
342
4d69486869a5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
547 interactionNum = -1 |
4d69486869a5
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parents:
341
diff
changeset
|
548 indicatorTypeNum = -1 |
343
74e437ab5f11
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parents:
342
diff
changeset
|
549 tmpIndicators = {} |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
550 for row in cursor: |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
551 if row[0] != interactionNum: |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
552 interactionNum = row[0] |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
553 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2])) |
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
554 interactions[-1].indicators = {} |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
555 if indicatorTypeNum != row[5] or row[0] != interactionNum: |
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
556 indicatorTypeNum = row[5] |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
557 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
558 indicatorValues = {row[6]:row[7]} |
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
559 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.timeIndicators) |
343
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diff
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|
560 else: |
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diff
changeset
|
561 indicatorValues[row[6]] = row[7] |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
562 interactions[-1].indicators[indicatorName].timeInterval.last = row[6] |
342
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diff
changeset
|
563 except sqlite3.OperationalError as error: |
491
343cfd185ca6
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diff
changeset
|
564 printDBError(error) |
343
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parents:
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diff
changeset
|
565 return [] |
342
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diff
changeset
|
566 connection.close() |
343
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diff
changeset
|
567 return interactions |
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diff
changeset
|
568 # load first and last object instants |
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diff
changeset
|
569 # 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
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diff
changeset
|
570 |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
571 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
|
572 '''Create the table to store the object bounding boxes in image space |
390
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sql code to create bounding boxes in image space
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parents:
382
diff
changeset
|
573 ''' |
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574 connection = sqlite3.connect(filename) |
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575 cursor = connection.cursor() |
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diff
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576 try: |
394
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577 cursor.execute('CREATE TABLE IF NOT EXISTS bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))') |
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578 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
390
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579 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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580 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+ |
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581 'GROUP BY object_id, frame_number') |
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582 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
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diff
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583 printDBError(error) |
390
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584 connection.commit() |
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585 connection.close() |
329
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586 |
586
ff4f0ce46ca6
modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
585
diff
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|
587 def loadBoundingBoxTableForDisplay(filename): |
647
458890c0437c
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646
diff
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|
588 '''Loads bounding boxes from bounding_boxes table for display over trajectories''' |
393
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589 connection = sqlite3.connect(filename) |
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590 cursor = connection.cursor() |
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591 boundingBoxes = {} # list of bounding boxes for each instant |
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592 try: |
394
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593 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
393
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594 result = [row for row in cursor] |
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diff
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|
595 if len(result) > 0: |
394
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596 cursor.execute('SELECT * FROM bounding_boxes') |
393
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597 for row in cursor: |
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598 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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599 except sqlite3.OperationalError as error: |
491
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diff
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600 printDBError(error) |
393
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diff
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601 return boundingBoxes |
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602 connection.close() |
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603 return boundingBoxes |
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604 |
329
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|
605 ######################### |
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606 # txt files |
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607 ######################### |
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608 |
525
7124c7d2a663
first draft of loading from VISSIM file
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|
609 def openCheck(filename, option = 'r', quitting = False): |
509
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610 '''Open file filename in read mode by default |
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611 and checks it is open''' |
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612 try: |
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613 return open(filename, option) |
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614 except IOError: |
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615 print 'File %s could not be opened.' % filename |
525
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|
616 if quitting: |
509
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|
617 from sys import exit |
935430b1d408
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618 exit() |
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619 return None |
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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|
620 |
564
36605d843be5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
621 def readline(f, commentCharacters = commentChar): |
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diff
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|
622 '''Modified readline function to skip comments |
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|
623 Can take a list of characters or a string (in will work in both)''' |
509
935430b1d408
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diff
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|
624 s = f.readline() |
564
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diff
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|
625 while (len(s) > 0) and s[0] in commentCharacters: |
509
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|
626 s = f.readline() |
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627 return s.strip() |
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|
628 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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diff
changeset
|
629 def getLines(f, commentCharacters = commentChar): |
509
935430b1d408
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diff
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|
630 '''Gets a complete entry (all the lines) in between delimiterChar.''' |
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|
631 dataStrings = [] |
564
36605d843be5
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diff
changeset
|
632 s = readline(f, commentCharacters) |
509
935430b1d408
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changeset
|
633 while len(s) > 0: |
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|
634 dataStrings += [s.strip()] |
564
36605d843be5
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diff
changeset
|
635 s = readline(f, commentCharacters) |
509
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|
636 return dataStrings |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
637 |
935430b1d408
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diff
changeset
|
638 def writeList(filename, l): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
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parents:
509
diff
changeset
|
639 f = openCheck(filename, 'w') |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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diff
changeset
|
640 for x in l: |
935430b1d408
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diff
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|
641 f.write('{}\n'.format(x)) |
935430b1d408
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diff
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|
642 f.close() |
935430b1d408
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diff
changeset
|
643 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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parents:
552
diff
changeset
|
644 def loadListStrings(filename, commentCharacters = commentChar): |
514
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corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
645 f = openCheck(filename, 'r') |
564
36605d843be5
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diff
changeset
|
646 result = getLines(f, commentCharacters) |
509
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|
647 f.close() |
935430b1d408
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|
648 return result |
935430b1d408
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diff
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|
649 |
564
36605d843be5
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diff
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|
650 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = commentChar): |
509
935430b1d408
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diff
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|
651 values = [] |
564
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|
652 for l in loadListStrings(filename, commentCharacters): |
509
935430b1d408
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diff
changeset
|
653 if l.startswith(option): |
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|
654 values.append(l.split(delimiterChar)[1].strip()) |
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|
655 return values |
935430b1d408
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parents:
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diff
changeset
|
656 |
935430b1d408
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diff
changeset
|
657 class FakeSecHead(object): |
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diff
changeset
|
658 '''Add fake section header [asection] |
935430b1d408
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parents:
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diff
changeset
|
659 |
935430b1d408
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diff
changeset
|
660 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>
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491
diff
changeset
|
661 use read_file in Python 3.2+ |
935430b1d408
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diff
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|
662 ''' |
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|
663 def __init__(self, fp): |
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diff
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|
664 self.fp = fp |
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|
665 self.sechead = '[main]\n' |
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parents:
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diff
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|
666 |
935430b1d408
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diff
changeset
|
667 def readline(self): |
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|
668 if self.sechead: |
935430b1d408
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diff
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|
669 try: return self.sechead |
935430b1d408
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|
670 finally: self.sechead = None |
935430b1d408
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|
671 else: return self.fp.readline() |
935430b1d408
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491
diff
changeset
|
672 |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
673 def generatePDLaneColumn(data): |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
674 data['LANE'] = data['LANE\LINK\NO'].astype(str)+'_'+data['LANE\INDEX'].astype(str) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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647
diff
changeset
|
675 |
642
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added pandas to read vissim fzp (more robust with respect to column names
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parents:
636
diff
changeset
|
676 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None, usePandas = False, nDecimals = 2): |
525
7124c7d2a663
first draft of loading from VISSIM file
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parents:
524
diff
changeset
|
677 '''Reads data from VISSIM .fzp trajectory file |
527
37830a831818
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parents:
526
diff
changeset
|
678 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
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parents:
526
diff
changeset
|
679 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
37830a831818
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
680 so simulationStepsPerTimeUnit should be 5, |
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
changeset
|
681 so that all times correspond to the number of the simulation step (and can be stored as integers) |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
682 |
994dd644f6ab
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649
diff
changeset
|
683 Objects positions will be considered only after warmUpLastInstant |
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corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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649
diff
changeset
|
684 (if the object has no such position, it won't be loaded) |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
685 |
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
686 Assumed to be sorted over time''' |
7124c7d2a663
first draft of loading from VISSIM file
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524
diff
changeset
|
687 objects = {} # dictionary of objects index by their id |
7124c7d2a663
first draft of loading from VISSIM file
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524
diff
changeset
|
688 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
689 if usePandas: |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
690 from pandas import read_csv |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
691 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1) |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
692 generatePDLaneColumn(data) |
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
693 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
694 if warmUpLastInstant is not None: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
695 data = data[data['TIME']>=warmUpLastInstant] |
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
696 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False) |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
697 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax}) |
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
698 for row_index, row in instants.iterrows(): |
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
699 objNum = int(row['NO']) |
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
700 tmp = data[data['NO'] == objNum] |
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
701 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last'])) |
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
702 # positions should be rounded to nDecimals decimals only |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
703 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist()) |
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
704 if nObjects > 0 and len(objects) >= nObjects: |
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
705 break |
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
636
diff
changeset
|
706 return objects.values() |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
707 else: |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
708 inputfile = openCheck(filename, quitting = True) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
709 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
710 # skip header: 15 lines + 1 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
711 line = readline(inputfile, '*$') |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
712 while len(line) > 0:#for line in inputfile: |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
713 data = line.strip().split(';') |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
714 objNum = int(data[1]) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
715 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
716 s = float(data[4]) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
717 y = float(data[5]) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
718 lane = data[2]+'_'+data[3] |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
719 if objNum not in objects: |
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
720 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
721 if nObjects < 0 or len(objects) < nObjects: |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
722 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
723 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
660
994dd644f6ab
corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
649
diff
changeset
|
724 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
725 objects[objNum].timeInterval.last = instant |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
726 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
727 line = readline(inputfile, '*$') |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
728 |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
729 return objects.values() |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
730 |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
731 def selectPDLanes(data, lanes = None): |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
732 '''Selects the subset of data for the right lanes |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
733 |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
734 Lane format is a string 'x_y' where x is link index and y is lane index''' |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
735 if lanes is not None: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
736 if 'LANE' not in data.columns: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
737 generatePDLaneColumn(data) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
738 indices = (data['LANE'] == lanes[0]) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
739 for l in lanes[1:]: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
740 indices = indices | (data['LANE'] == l) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
741 return data[indices] |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
742 else: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
743 return data |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
744 |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
745 def countStoppedVehiclesVissim(filename, lanes = None, proportionStationaryTime = 0.7): |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
746 '''Counts the number of vehicles stopped for a long time in a VISSIM trajectory file |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
747 and the total number of vehicles |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
748 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
749 Vehicles are considered finally stationary |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
750 if more than proportionStationaryTime of their total time |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
751 If lanes is not None, only the data for the selected lanes will be provided |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
752 (format as string x_y where x is link index and y is lane index)''' |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
753 from pandas import read_csv |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
754 columns = ['NO', '$VEHICLE:SIMSEC', 'POS'] |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
755 if lanes is not None: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
756 columns += ['LANE\LINK\NO', 'LANE\INDEX'] |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
757 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
758 data = selectPDLanes(data, lanes) |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
759 data.sort(['$VEHICLE:SIMSEC'], inplace = True) |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
760 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
761 nStationary = 0 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
762 nVehicles = 0 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
763 for name, group in data.groupby(['NO'], sort = False): |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
764 nVehicles += 1 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
765 positions = array(group['POS']) |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
766 diff = positions[1:]-positions[:-1] |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
767 if npsum(diff == 0.) >= proportionStationaryTime*len(positions): |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
768 nStationary += 1 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
769 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
770 return nStationary, nVehicles |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
771 |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
772 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2): |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
773 '''Counts the number of collisions per lane in a VISSIM trajectory file |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
774 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
775 To distinguish between cars passing and collision, |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
776 one checks when the sign of the position difference inverts |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
777 (if the time are closer than collisionTimeDifference) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
778 If lanes is not None, only the data for the selected lanes will be provided |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
779 (format as string x_y where x is link index and y is lane index)''' |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
780 from pandas import read_csv, merge |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
781 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS']) |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
782 data = selectPDLanes(data, lanes) |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
783 merged = merge(data, data, how='inner', left_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], right_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], sort = False) |
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added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
784 merged = merged[merged['NO_x']>merged['NO_y']] |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
785 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
786 nCollisions = 0 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
787 for name, group in merged.groupby(['LANE\LINK\NO', 'LANE\INDEX', 'NO_x', 'NO_y']): |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
788 diff = group['POS_x'].convert_objects(convert_numeric=True)-group['POS_y'].convert_objects(convert_numeric=True) |
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
789 # diff = group['POS_x']-group['POS_y'] # to check the impact of convert_objects and the possibility of using type conversion in read_csv or function to convert strings if any |
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
790 if len(diff) >= 2 and npmin(diff) < 0 and npmax(diff) > 0: |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
791 xidx = diff[diff < 0].argmax() |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
792 yidx = diff[diff > 0].argmin() |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
793 if abs(group.loc[xidx, '$VEHICLE:SIMSEC'] - group.loc[yidx, '$VEHICLE:SIMSEC']) <= collisionTimeDifference: |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
794 nCollisions += 1 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
795 return nCollisions |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
796 |
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
changeset
|
797 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
798 '''Reads data from the trajectory data provided by NGSIM project |
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initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
799 and returns the list of Feature objects''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
800 objects = [] |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
801 |
564
36605d843be5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
802 inputfile = openCheck(filename, quitting = True) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
803 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
804 def createObject(numbers): |
0
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initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
805 firstFrameNum = int(numbers[1]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
806 # do the geometry and usertype |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
807 |
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
|
808 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
|
809 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
|
810 #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
|
811 obj = moving.MovingObject(num = int(numbers[0]), |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
812 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
|
813 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
575340e6fce3
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
814 userType = int(numbers[10])) |
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
815 obj.userType = int(numbers[10]) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
816 obj.laneNums = [int(numbers[13])] |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
817 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
|
818 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
|
819 obj.spaceHeadways = [float(numbers[16])] # feet |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
820 obj.timeHeadways = [float(numbers[17])] # seconds |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
821 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
|
822 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
|
823 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
|
824 return obj |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
825 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
826 numbers = readline(inputfile).strip().split() |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
827 if (len(numbers) > 0): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
828 obj = createObject(numbers) |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
829 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
830 for line in inputfile: |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
831 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
|
832 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
|
833 # 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
|
834 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
|
835 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
|
836 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
|
837 #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
|
838 objects.append(obj) |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
839 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
|
840 break |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
841 obj = createObject(numbers) |
0
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initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
842 else: |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
843 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
|
844 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
541
diff
changeset
|
845 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
846 obj.speeds.append(float(numbers[11])) |
78
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parents:
72
diff
changeset
|
847 obj.precedingVehicles.append(int(numbers[14])) |
99e807c29753
added loading other information from NGSIM
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parents:
72
diff
changeset
|
848 obj.followingVehicles.append(int(numbers[15])) |
99e807c29753
added loading other information from NGSIM
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parents:
72
diff
changeset
|
849 obj.spaceHeadways.append(float(numbers[16])) |
99e807c29753
added loading other information from NGSIM
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parents:
72
diff
changeset
|
850 obj.timeHeadways.append(float(numbers[17])) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
851 |
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
|
852 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
|
853 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
|
854 if (obj.size[1] != float(numbers[9])): |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
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parents:
327
diff
changeset
|
855 print 'changed width obj %d' % (obj.getNum()) |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
856 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
857 inputfile.close() |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
858 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
859 |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
860 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
861 '''Reads data from the trajectory data provided by NGSIM project |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
862 and converts to our current format.''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
863 if append: |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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parents:
552
diff
changeset
|
864 out = openCheck(outputfile,'a') |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
865 else: |
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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parents:
552
diff
changeset
|
866 out = openCheck(outputfile,'w') |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
867 nObjectsPerType = [0,0,0] |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
868 |
564
36605d843be5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
869 features = loadNgsimFile(inputfile, sequenceNum) |
0
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
870 for f in features: |
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
871 nObjectsPerType[f.userType-1] += 1 |
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
872 f.write(out) |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
873 |
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
874 print nObjectsPerType |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
875 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
876 out.close() |
aed8eb63cdde
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Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
877 |
335
3950bfe22768
added functions to export trajectories to csv
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parents:
330
diff
changeset
|
878 def writePositionsToCsv(f, obj): |
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|
879 timeInterval = obj.getTimeInterval() |
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diff
changeset
|
880 positions = obj.getPositions() |
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330
diff
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|
881 curvilinearPositions = obj.getCurvilinearPositions() |
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330
diff
changeset
|
882 for i in xrange(int(obj.length())): |
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diff
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|
883 p1 = positions[i] |
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diff
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|
884 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
636
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diff
changeset
|
885 if curvilinearPositions is not None: |
335
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330
diff
changeset
|
886 p2 = curvilinearPositions[i] |
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diff
changeset
|
887 s += ',{},{}'.format(p2[0],p2[1]) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
888 f.write(s+'\n') |
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diff
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|
889 |
3950bfe22768
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diff
changeset
|
890 def writeTrajectoriesToCsv(filename, objects): |
514
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corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
891 f = openCheck(filename, 'w') |
335
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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330
diff
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|
892 for i,obj in enumerate(objects): |
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330
diff
changeset
|
893 writePositionsToCsv(f, obj) |
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330
diff
changeset
|
894 f.close() |
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330
diff
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|
895 |
509
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
896 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
897 ######################### |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
898 # Utils to read .ini type text files for configuration, meta data... |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
899 ######################### |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
900 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
901 class ProcessParameters(VideoFilenameAddable): |
537
6c264b914846
work on classification parameters
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diff
changeset
|
902 '''Class for all parameters controlling data processing: input, |
6c264b914846
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parents:
536
diff
changeset
|
903 method parameters, etc. for tracking, classification and safety |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
904 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
905 Note: framerate is already taken into account''' |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
906 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
907 def loadConfigFile(self, filename): |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
908 from ConfigParser import ConfigParser |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
909 from os import path |
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
|
910 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
911 config = ConfigParser() |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
912 config.readfp(FakeSecHead(openCheck(filename))) |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
913 self.sectionHeader = config.sections()[0] |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
914 # Tracking/display parameters |
509
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
915 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
916 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
917 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
918 if (path.exists(self.homographyFilename)): |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
919 self.homography = loadtxt(self.homographyFilename) |
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
|
920 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
921 self.homography = None |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
922 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
923 if (path.exists(self.intrinsicCameraFilename)): |
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
|
924 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
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
|
925 else: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
926 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
|
927 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
928 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
929 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
930 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
931 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
932 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
377 | 933 |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
934 # Classification parameters |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
935 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
936 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
937 self.speedAggregationQuantile = config.getint(self.sectionHeader, 'speed-aggregation-quantile') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
938 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable') |
685
94b291a5f933
several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
680
diff
changeset
|
939 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop') |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
940 self.pedBikeCarSVMFilename = config.get(self.sectionHeader, 'pbv-svm-filename') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
941 self.bikeCarSVMFilename = config.get(self.sectionHeader, 'bv-svm-filename') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
942 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
943 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
944 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
945 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
946 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
947 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
948 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed') |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
949 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed') |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
950 |
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
951 # Safety parameters |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
952 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
953 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
954 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
955 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
956 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
957 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
958 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
959 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
960 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
961 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
962 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
963 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
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
|
964 |
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
|
965 def __init__(self, filename = None): |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
966 if filename is not None: |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
967 self.loadConfigFile(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
|
968 |
680
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
969 def convertToFrames(self, speedRatio = 3.6): |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
970 '''Converts parameters with a relationship to time in 'native' frame time |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
971 speedRatio is the conversion from the speed unit in the config file |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
972 to the distance per second |
da1352b89d02
classification is working
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parents:
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diff
changeset
|
973 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
974 ie param(config file) = speedRatio x fps x param(used in program) |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
975 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame''' |
da1352b89d02
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
976 denominator = self.videoFrameRate*speedRatio |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
977 denominator2 = denominator**2 |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
978 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator |
da1352b89d02
classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
665
diff
changeset
|
979 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator |
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980 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator |
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981 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator |
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982 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator |
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983 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator |
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984 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator |
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985 # special case for the lognormal distribution |
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986 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator) |
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987 #self.scaleCyclistSpeed = self.scaleCyclistSpeed |
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988 |
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989 class SceneParameters(object): |
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990 def __init__(self, config, sectionName): |
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991 from ConfigParser import NoOptionError |
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992 from ast import literal_eval |
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993 try: |
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994 self.sitename = config.get(sectionName, 'sitename') |
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995 self.databaseFilename = config.get(sectionName, 'data-filename') |
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996 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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997 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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998 self.videoFilename = config.get(sectionName, 'video-filename') |
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999 self.frameRate = config.getfloat(sectionName, 'framerate') |
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1000 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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1001 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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1002 self.rotation = config.getfloat(sectionName, 'rotation') |
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1003 self.duration = config.getint(sectionName, 'duration') |
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1004 except NoOptionError as e: |
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1005 print(e) |
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1006 print('Not a section for scene meta-data') |
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1007 |
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1008 @staticmethod |
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1009 def loadConfigFile(filename): |
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1010 from ConfigParser import ConfigParser |
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1011 config = ConfigParser() |
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1012 config.readfp(openCheck(filename)) |
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1013 configDict = dict() |
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1014 for sectionName in config.sections(): |
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1015 configDict[sectionName] = SceneParameters(config, sectionName) |
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1016 return configDict |
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1017 |
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1018 |
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1019 if __name__ == "__main__": |
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1020 import doctest |
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1021 import unittest |
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1022 suite = doctest.DocFileSuite('tests/storage.txt') |
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1023 unittest.TextTestRunner().run(suite) |
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1024 # #doctest.testmod() |
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1025 # #doctest.testfile("example.txt") |