Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 398:3399bd48cb40
Ajout d'une méthode pour obtenir le nombre de FPS
Méthode de capture des trames vidéos plus résistante aux erreur
Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author | Jean-Philippe Jodoin <jpjodoin@gmail.com> |
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date | Mon, 29 Jul 2013 13:46:07 -0400 |
parents | 6567fee37c16 |
children | a2ff03a52b73 |
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1 #! /usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 '''Various utilities to save and load data''' |
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4 |
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5 import utils, moving, events, indicators |
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6 |
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7 import sqlite3 |
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8 |
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9 __metaclass__ = type |
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10 |
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11 |
50 | 12 ngsimUserTypes = {'twowheels':1, |
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13 'car':2, |
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14 'truck':3} |
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15 |
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16 ######################### |
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17 # Sqlite |
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18 ######################### |
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19 |
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20 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1): |
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21 """ |
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22 This function writers trajectories to a specified sqlite file |
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23 @param[in] objects -> a list of trajectories |
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24 @param[in] trajectoryType - |
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25 @param[out] outFile -> the .sqlite file containting the written objects |
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26 @param[in] objectNumber : number of objects loaded |
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27 """ |
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28 connection = sqlite3.connect(outFilename) |
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29 cursor = connection.cursor() |
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30 |
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31 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))" |
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32 cursor.execute(schema) |
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33 |
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34 trajectory_id = 0 |
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35 frame_number = 0 |
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36 if trajectoryType == 'feature': |
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37 if type(objectNumbers) == int and objectNumbers == -1: |
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38 for trajectory in objects: |
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39 trajectory_id += 1 |
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40 frame_number = 0 |
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41 for position in trajectory.getPositions(): |
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42 frame_number += 1 |
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43 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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44 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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45 |
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46 connection.commit() |
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47 connection.close() |
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48 |
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49 def setRoadUserTypes(filename, objects): |
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50 '''Saves the user types of the objects in the sqlite database stored in filename |
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51 The objects should exist in the objects table''' |
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52 connection = sqlite3.connect(filename) |
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53 cursor = connection.cursor() |
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54 for obj in objects: |
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55 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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56 connection.commit() |
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57 connection.close() |
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58 |
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59 def loadPrototypeMatchIndexesFromSqlite(filename): |
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60 """ |
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61 This function loads the prototypes table in the database of name <filename>. |
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62 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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63 """ |
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64 matched_indexes = [] |
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65 |
211 | 66 connection = sqlite3.connect(filename) |
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67 cursor = connection.cursor() |
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68 |
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69 try: |
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70 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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71 except sqlite3.OperationalError as error: |
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72 utils.printDBError(error) |
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73 return [] |
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74 |
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75 for row in cursor: |
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76 matched_indexes.append((row[0],row[1])) |
211 | 77 |
78 connection.close() | |
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79 return matched_indexes |
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80 |
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81 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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82 if trajectoryType == 'feature': |
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83 statementBeginning = 'where trajectory_id ' |
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84 elif trajectoryType == 'object': |
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85 statementBeginning = 'and OF.object_id ' |
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86 else: |
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87 print('no trajectory type was chosen') |
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88 |
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89 if type(objectNumbers) == int: |
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90 if objectNumbers == -1: |
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91 query = '' |
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92 else: |
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93 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
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94 elif type(objectNumbers) == list: |
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95 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
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96 return query |
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97 |
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98 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
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99 '''Loads trajectories (in the general sense) from the given table |
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100 can be positions or velocities |
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101 |
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102 returns a moving object''' |
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103 cursor = connection.cursor() |
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104 |
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105 try: |
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106 if trajectoryType == 'feature': |
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107 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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108 cursor.execute('SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number') |
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109 elif trajectoryType == 'object': |
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110 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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111 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number') |
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112 else: |
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113 print('no trajectory type was chosen') |
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114 except sqlite3.OperationalError as error: |
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115 utils.printDBError(error) |
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116 return [] |
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117 |
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118 objId = -1 |
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119 obj = None |
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120 objects = [] |
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121 for row in cursor: |
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122 if row[0] != objId: |
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123 objId = row[0] |
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124 if obj: |
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125 objects.append(obj) |
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126 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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127 else: |
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128 obj.timeInterval.last = row[1] |
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129 obj.positions.addPositionXY(row[2],row[3]) |
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130 |
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131 if obj: |
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132 objects.append(obj) |
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133 |
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134 return objects |
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135 |
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136 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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137 '''Loads nObjects or the indices in objectNumbers from the database |
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138 TODO: load feature numbers and not average feature trajectories |
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139 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python) |
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140 ''' |
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141 connection = sqlite3.connect(filename) # add test if it open |
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142 |
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143 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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144 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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145 |
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146 if len(objectVelocities) > 0: |
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147 for o,v in zip(objects, objectVelocities): |
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148 if o.getNum() == v.getNum(): |
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149 o.velocities = v.positions |
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150 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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151 else: |
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152 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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153 |
263
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154 if trajectoryType == 'object': |
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155 cursor = connection.cursor() |
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156 try: |
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157 # attribute feature numbers to objects |
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158 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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159 cursor.execute('SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id') # order is important to group all features per object |
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160 |
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161 featureNumbers = {} |
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162 for row in cursor: |
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163 objId = row[1] |
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164 if objId not in featureNumbers: |
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165 featureNumbers[objId] = [row[0]] |
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166 else: |
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167 featureNumbers[objId].append(row[0]) |
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168 |
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169 for obj in objects: |
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170 obj.featureNumbers = featureNumbers[obj.getNum()] |
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171 |
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172 # load userType |
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173 if objectIdQuery == '': |
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174 cursor.execute('SELECT object_id, road_user_type from objects') |
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175 else: |
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176 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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177 userTypes = {} |
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178 for row in cursor: |
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179 userTypes[row[0]] = row[1] |
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180 |
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181 for obj in objects: |
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182 obj.userType = userTypes[obj.getNum()] |
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183 |
342
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184 except sqlite3.OperationalError as error: |
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185 utils.printDBError(error) |
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186 return [] |
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187 |
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188 connection.close() |
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189 return objects |
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190 |
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191 def removeFromSqlite(filename, dataType): |
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192 'Removes some tables in the filename depending on type of data' |
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193 connection = sqlite3.connect(filename) |
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194 if dataType == 'object': |
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195 utils.dropTables(connection, ['objects', 'objects_features']) |
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196 elif dataType == 'interaction': |
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197 utils.dropTables(connection, ['interactions', 'indicators']) |
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198 elif dataType == 'bb': |
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199 utils.dropTables(connection, ['bounding_boxes']) |
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200 else: |
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201 print('Unknown data type {} to delete from database'.format(dataType)) |
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202 connection.close() |
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203 |
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204 def createInteractionTable(cursor): |
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205 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))') |
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206 |
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207 def createIndicatorTables(cursor): |
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208 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))') |
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209 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))') |
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210 cursor.execute('CREATE TABLE IF NOT EXISTS indicators (interaction_id INTEGER, indicator_type INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(interaction_id) REFERENCES interactions(id), PRIMARY KEY(interaction_id, indicator_type, frame_number))') |
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211 |
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212 def saveInteraction(cursor, interaction): |
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213 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
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214 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
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215 |
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216 def saveInteractions(filename, interactions): |
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217 'Saves the interactions in the table' |
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218 connection = sqlite3.connect(filename) |
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219 cursor = connection.cursor() |
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220 try: |
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221 createInteractionTable(cursor) |
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222 for inter in interactions: |
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223 saveInteraction(cursor, inter) |
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224 except sqlite3.OperationalError as error: |
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225 utils.printDBError(error) |
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226 connection.commit() |
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227 connection.close() |
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228 |
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229 def saveIndicator(cursor, interactionNum, indicator): |
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230 for instant in indicator.getTimeInterval(): |
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231 if indicator[instant]: |
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232 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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233 |
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234 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
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235 'Saves the indicator values in the table' |
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236 connection = sqlite3.connect(filename) |
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237 cursor = connection.cursor() |
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238 try: |
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239 createInteractionTable(cursor) |
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240 createIndicatorTables(cursor) |
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241 for inter in interactions: |
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242 saveInteraction(cursor, inter) |
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243 for indicatorName in indicatorNames: |
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244 indicator = inter.getIndicator(indicatorName) |
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245 if indicator != None: |
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246 saveIndicator(cursor, inter.getNum(), indicator) |
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247 except sqlite3.OperationalError as error: |
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248 utils.printDBError(error) |
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249 connection.commit() |
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250 connection.close() |
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251 |
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252 def loadIndicators(filename): |
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253 '''Loads interaction indicators |
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254 |
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255 TODO choose the interactions to load''' |
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256 interactions = [] |
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257 connection = sqlite3.connect(filename) |
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258 cursor = connection.cursor() |
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259 try: |
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260 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type') |
342
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261 interactionNum = -1 |
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262 indicatorTypeNum = -1 |
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263 tmpIndicators = {} |
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264 for row in cursor: |
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265 if row[0] != interactionNum: # save interaction and create new interaction |
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266 if interactionNum >= 0: |
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267 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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268 interactions[-1].indicators = tmpIndicators |
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269 tmpIndicators = {} |
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270 interactionNum = row[0] |
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271 roadUserNumbers = row[1:3] |
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272 if indicatorTypeNum != row[5]: |
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273 if indicatorTypeNum >= 0: |
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274 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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275 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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276 indicatorTypeNum = row[5] |
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277 indicatorValues = {row[6]:row[7]} |
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278 else: |
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279 indicatorValues[row[6]] = row[7] |
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280 if interactionNum >= 0: |
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281 if indicatorTypeNum >= 0: |
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282 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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283 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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284 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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285 interactions[-1].indicators = tmpIndicators |
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286 except sqlite3.OperationalError as error: |
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287 utils.printDBError(error) |
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288 return [] |
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289 connection.close() |
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290 return interactions |
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291 # load first and last object instants |
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292 # CREATE TEMP TABLE IF NOT EXISTS object_instants AS SELECT OF.object_id, min(frame_number) as first_instant, max(frame_number) as last_instant from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by OF.object_id order by OF.object_id |
342
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293 |
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294 def createBoundingBoxTable(filename, invHomography = None): |
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295 '''Create the table to store the object bounding boxes |
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296 ''' |
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297 connection = sqlite3.connect(filename) |
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298 cursor = connection.cursor() |
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299 try: |
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300 cursor.execute('CREATE TABLE IF NOT EXISTS 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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301 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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302 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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303 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+ |
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304 'GROUP BY object_id, frame_number') |
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305 except sqlite3.OperationalError as error: |
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306 utils.printDBError(error) |
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307 connection.commit() |
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308 connection.close() |
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309 |
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310 def loadBoundingBoxTable(filename): |
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311 connection = sqlite3.connect(filename) |
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312 cursor = connection.cursor() |
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313 boundingBoxes = {} # list of bounding boxes for each instant |
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314 try: |
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315 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
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316 result = [row for row in cursor] |
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317 if len(result) > 0: |
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318 cursor.execute('SELECT * FROM bounding_boxes') |
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319 #objId = -1 |
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320 for row in cursor: |
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321 #if row[0] != objId: |
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322 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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323 except sqlite3.OperationalError as error: |
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324 utils.printDBError(error) |
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325 return boundingBoxes |
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326 connection.close() |
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327 return boundingBoxes |
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328 |
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329 |
329
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330 ######################### |
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331 # txt files |
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332 ######################### |
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333 |
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334 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
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335 '''Reads data from the trajectory data provided by NGSIM project |
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336 and returns the list of Feature objects''' |
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337 objects = [] |
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338 |
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339 input = utils.openCheck(filename) |
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340 if not input: |
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341 import sys |
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342 sys.exit() |
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343 |
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344 def createObject(numbers): |
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345 firstFrameNum = int(numbers[1]) |
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346 # do the geometry and usertype |
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347 |
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348 firstFrameNum = int(numbers[1]) |
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349 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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350 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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351 obj = moving.MovingObject(num = int(numbers[0]), |
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352 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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353 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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354 userType = int(numbers[10])) |
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355 obj.userType = int(numbers[10]) |
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356 obj.laneNums = [int(numbers[13])] |
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357 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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358 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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359 obj.spaceHeadways = [float(numbers[16])] # feet |
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360 obj.timeHeadways = [float(numbers[17])] # seconds |
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361 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
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362 obj.speeds = [float(numbers[11])] |
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363 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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364 return obj |
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365 |
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366 numbers = input.readline().strip().split() |
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367 if (len(numbers) > 0): |
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368 obj = createObject(numbers) |
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369 |
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370 for line in input: |
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371 numbers = line.strip().split() |
329
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372 if obj.getNum() != int(numbers[0]): |
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373 # check and adapt the length to deal with issues in NGSIM data |
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374 if (obj.length() != obj.positions.length()): |
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375 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
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376 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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377 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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378 objects.append(obj) |
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379 if (nObjects>0) and (len(objects)>=nObjects): |
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380 break |
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381 obj = createObject(numbers) |
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382 else: |
327
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383 obj.laneNums.append(int(numbers[13])) |
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384 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
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385 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
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386 obj.speeds.append(float(numbers[11])) |
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387 obj.precedingVehicles.append(int(numbers[14])) |
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388 obj.followingVehicles.append(int(numbers[15])) |
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389 obj.spaceHeadways.append(float(numbers[16])) |
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390 obj.timeHeadways.append(float(numbers[17])) |
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391 |
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392 if (obj.size[0] != float(numbers[8])): |
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393 print 'changed length obj %d' % (obj.getNum()) |
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394 if (obj.size[1] != float(numbers[9])): |
329
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395 print 'changed width obj %d' % (obj.getNum()) |
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396 |
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397 input.close() |
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398 return objects |
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399 |
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400 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
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401 '''Reads data from the trajectory data provided by NGSIM project |
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402 and converts to our current format.''' |
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403 if append: |
377 | 404 out = utils.openCheck(outFile,'a') |
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405 else: |
377 | 406 out = utils.openCheck(outFile,'w') |
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407 nObjectsPerType = [0,0,0] |
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408 |
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409 features = loadNgsimFile(inFile, sequenceNum) |
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410 for f in features: |
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411 nObjectsPerType[f.userType-1] += 1 |
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412 f.write(out) |
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413 |
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414 print nObjectsPerType |
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415 |
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416 out.close() |
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417 |
335
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418 def writePositionsToCsv(f, obj): |
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419 timeInterval = obj.getTimeInterval() |
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420 positions = obj.getPositions() |
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421 curvilinearPositions = obj.getCurvilinearPositions() |
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422 for i in xrange(int(obj.length())): |
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423 p1 = positions[i] |
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424 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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425 if curvilinearPositions != None: |
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426 p2 = curvilinearPositions[i] |
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427 s += ',{},{}'.format(p2[0],p2[1]) |
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428 f.write(s+'\n') |
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429 |
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430 def writeTrajectoriesToCsv(filename, objects): |
377 | 431 f = utils.openCheck(filename, 'w') |
335
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432 for i,obj in enumerate(objects): |
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433 writePositionsToCsv(f, obj) |
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434 f.close() |
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435 |
377 | 436 def writeList(filename, l): |
437 f = utils.openCheck(filename, 'w') | |
438 for x in l: | |
439 f.write('{}\n'.format(x)) | |
440 f.close() | |
441 | |
382
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442 def loadListStrings(filename): |
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443 f = utils.openCheck(filename, 'r') |
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444 result = [l.strip() for l in f] |
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445 f.close() |
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446 return result |
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447 |
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448 |
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449 if __name__ == "__main__": |
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450 import doctest |
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451 import unittest |
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created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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452 suite = doctest.DocFileSuite('tests/storage.txt') |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
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453 unittest.TextTestRunner().run(suite) |
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575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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454 # #doctest.testmod() |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
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changeset
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455 # #doctest.testfile("example.txt") |