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annotate python/storage.py @ 491:343cfd185ca6

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minor changes and reaarrangements
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 16 Apr 2014 17:43:53 -0400
parents f6415f012640
children 935430b1d408
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils, moving, events, indicators
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6
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7 import sqlite3, logging
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9 __metaclass__ = type
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11
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12 ngsimUserTypes = {'twowheels':1,
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13 'car':2,
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14 'truck':3}
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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 # utils
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21 def printDBError(error):
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22 print('DB Error: {}'.format(error))
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23
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24 def dropTables(connection, tableNames):
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25 'deletes the table with names in tableNames'
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26 try:
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27 cursor = connection.cursor()
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28 for tableName in tableNames:
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29 cursor.execute('DROP TABLE IF EXISTS '+tableName)
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30 except sqlite3.OperationalError as error:
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31 printDBError(error)
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32
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33 # IO to sqlite
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34 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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35 """
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36 This function writers trajectories to a specified sqlite file
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37 @param[in] objects -> a list of trajectories
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38 @param[in] trajectoryType -
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39 @param[out] outFile -> the .sqlite file containting the written objects
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40 @param[in] objectNumber : number of objects loaded
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41 """
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42 connection = sqlite3.connect(outFilename)
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43 cursor = connection.cursor()
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44
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45 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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46 cursor.execute(schema)
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47
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48 trajectory_id = 0
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49 frame_number = 0
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50 if trajectoryType == 'feature':
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51 if type(objectNumbers) == int and objectNumbers == -1:
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52 for trajectory in objects:
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53 trajectory_id += 1
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54 frame_number = 0
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55 for position in trajectory.getPositions():
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56 frame_number += 1
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57 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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58 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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59
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60 connection.commit()
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61 connection.close()
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62
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63 def setRoadUserTypes(filename, objects):
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64 '''Saves the user types of the objects in the sqlite database stored in filename
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65 The objects should exist in the objects table'''
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66 connection = sqlite3.connect(filename)
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67 cursor = connection.cursor()
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68 for obj in objects:
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69 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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70 connection.commit()
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71 connection.close()
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72
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73 def loadPrototypeMatchIndexesFromSqlite(filename):
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74 """
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75 This function loads the prototypes table in the database of name <filename>.
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76 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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77 """
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78 matched_indexes = []
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79
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80 connection = sqlite3.connect(filename)
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81 cursor = connection.cursor()
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82
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83 try:
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84 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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85 except sqlite3.OperationalError as error:
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86 printDBError(error)
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87 return []
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88
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89 for row in cursor:
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90 matched_indexes.append((row[0],row[1]))
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91
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92 connection.close()
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93 return matched_indexes
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94
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95 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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96 if trajectoryType == 'feature':
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97 statementBeginning = 'where trajectory_id '
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98 elif trajectoryType == 'object':
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99 statementBeginning = 'and OF.object_id '
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100 else:
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101 print('no trajectory type was chosen')
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102
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103 if type(objectNumbers) == int:
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104 if objectNumbers == -1:
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105 query = ''
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106 else:
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107 query = statementBeginning+'between 0 and {0} '.format(objectNumbers)
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108 elif type(objectNumbers) == list:
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109 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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110 return query
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111
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112 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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113 '''Loads trajectories (in the general sense) from the given table
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114 can be positions or velocities
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115
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116 returns a moving object'''
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117 cursor = connection.cursor()
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118
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119 try:
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120 if trajectoryType == 'feature':
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121 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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122 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number'
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123 cursor.execute(queryStatement)
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124 logging.debug(queryStatement)
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125 elif trajectoryType == 'object':
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126 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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127 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number'
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128 cursor.execute(queryStatement)
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129 logging.debug(queryStatement)
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130 else:
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131 print('no trajectory type was chosen')
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132 except sqlite3.OperationalError as error:
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133 printDBError(error)
215
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diff changeset
134 return []
239
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135
143
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136 objId = -1
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137 obj = None
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138 objects = []
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139 for row in cursor:
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140 if row[0] != objId:
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141 objId = row[0]
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142 if obj:
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143 objects.append(obj)
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144 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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145 else:
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146 obj.timeInterval.last = row[1]
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147 obj.positions.addPositionXY(row[2],row[3])
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148
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149 if obj:
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150 objects.append(obj)
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151
239
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152 return objects
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153
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154 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
417
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155 '''Loads nObjects or the indices in objectNumbers from the database'''
239
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156 connection = sqlite3.connect(filename) # add test if it open
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157
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158 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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159 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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160
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161 if len(objectVelocities) > 0:
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162 for o,v in zip(objects, objectVelocities):
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163 if o.getNum() == v.getNum():
239
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164 o.velocities = v.positions
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165 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
239
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166 else:
329
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167 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
239
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parents: 235
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168
263
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169 if trajectoryType == 'object':
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170 cursor = connection.cursor()
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171 try:
329
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172 # attribute feature numbers to objects
263
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173 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
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174 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object
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175 cursor.execute(queryStatement)
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176 logging.debug(queryStatement)
263
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177
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178 featureNumbers = {}
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179 for row in cursor:
329
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180 objId = row[1]
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diff changeset
181 if objId not in featureNumbers:
263
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diff changeset
182 featureNumbers[objId] = [row[0]]
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183 else:
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diff changeset
184 featureNumbers[objId].append(row[0])
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185
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186 for obj in objects:
329
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diff changeset
187 obj.featureNumbers = featureNumbers[obj.getNum()]
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188
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189 # load userType
330
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diff changeset
190 if objectIdQuery == '':
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diff changeset
191 cursor.execute('SELECT object_id, road_user_type from objects')
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diff changeset
192 else:
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diff changeset
193 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
329
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diff changeset
194 userTypes = {}
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195 for row in cursor:
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diff changeset
196 userTypes[row[0]] = row[1]
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diff changeset
197
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diff changeset
198 for obj in objects:
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diff changeset
199 obj.userType = userTypes[obj.getNum()]
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diff changeset
200
342
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201 except sqlite3.OperationalError as error:
491
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parents: 482
diff changeset
202 printDBError(error)
263
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diff changeset
203 return []
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diff changeset
204
143
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diff changeset
205 connection.close()
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diff changeset
206 return objects
0
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parents:
diff changeset
207
344
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diff changeset
208 def removeFromSqlite(filename, dataType):
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diff changeset
209 'Removes some tables in the filename depending on type of data'
491
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diff changeset
210 import os
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diff changeset
211 if os.path.isfile(filename):
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diff changeset
212 connection = sqlite3.connect(filename)
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parents: 482
diff changeset
213 if dataType == 'object':
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parents: 482
diff changeset
214 dropTables(connection, ['objects', 'objects_features'])
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parents: 482
diff changeset
215 elif dataType == 'interaction':
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parents: 482
diff changeset
216 dropTables(connection, ['interactions', 'indicators'])
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parents: 482
diff changeset
217 elif dataType == 'bb':
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parents: 482
diff changeset
218 dropTables(connection, ['bounding_boxes'])
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parents: 482
diff changeset
219 else:
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parents: 482
diff changeset
220 print('Unknown data type {} to delete from database'.format(dataType))
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parents: 482
diff changeset
221 connection.close()
344
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parents: 343
diff changeset
222 else:
491
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parents: 482
diff changeset
223 print('{} does not exist'.format(filename))
235
584613399513 added script and functions to remove object tables
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parents: 218
diff changeset
224
341
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diff changeset
225 def createInteractionTable(cursor):
343
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diff changeset
226 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))')
341
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parents: 340
diff changeset
227
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diff changeset
228 def createIndicatorTables(cursor):
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diff changeset
229 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))')
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diff changeset
230 # 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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diff changeset
231 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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diff changeset
232
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diff changeset
233 def saveInteraction(cursor, interaction):
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diff changeset
234 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
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parents: 342
diff changeset
235 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant()))
341
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parents: 340
diff changeset
236
340
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diff changeset
237 def saveInteractions(filename, interactions):
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diff changeset
238 'Saves the interactions in the table'
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parents: 335
diff changeset
239 connection = sqlite3.connect(filename)
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diff changeset
240 cursor = connection.cursor()
342
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parents: 341
diff changeset
241 try:
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parents: 341
diff changeset
242 createInteractionTable(cursor)
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parents: 341
diff changeset
243 for inter in interactions:
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parents: 341
diff changeset
244 saveInteraction(cursor, inter)
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parents: 341
diff changeset
245 except sqlite3.OperationalError as error:
491
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parents: 482
diff changeset
246 printDBError(error)
341
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parents: 340
diff changeset
247 connection.commit()
340
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parents: 335
diff changeset
248 connection.close()
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diff changeset
249
341
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diff changeset
250 def saveIndicator(cursor, interactionNum, indicator):
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parents: 340
diff changeset
251 for instant in indicator.getTimeInterval():
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parents: 340
diff changeset
252 if indicator[instant]:
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diff changeset
253 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant]))
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parents: 340
diff changeset
254
343
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parents: 342
diff changeset
255 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames):
340
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parents: 335
diff changeset
256 'Saves the indicator values in the table'
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parents: 335
diff changeset
257 connection = sqlite3.connect(filename)
341
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diff changeset
258 cursor = connection.cursor()
342
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diff changeset
259 try:
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diff changeset
260 createInteractionTable(cursor)
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diff changeset
261 createIndicatorTables(cursor)
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262 for inter in interactions:
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diff changeset
263 saveInteraction(cursor, inter)
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parents: 341
diff changeset
264 for indicatorName in indicatorNames:
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diff changeset
265 indicator = inter.getIndicator(indicatorName)
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diff changeset
266 if indicator != None:
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diff changeset
267 saveIndicator(cursor, inter.getNum(), indicator)
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diff changeset
268 except sqlite3.OperationalError as error:
491
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diff changeset
269 printDBError(error)
341
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diff changeset
270 connection.commit()
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parents: 340
diff changeset
271 connection.close()
340
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parents: 335
diff changeset
272
482
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273 def loadInteractions(filename):
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diff changeset
274 '''Loads interaction and their indicators
343
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275
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276 TODO choose the interactions to load'''
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277 interactions = []
342
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diff changeset
278 connection = sqlite3.connect(filename)
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diff changeset
279 cursor = connection.cursor()
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280 try:
343
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diff changeset
281 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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282 interactionNum = -1
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283 indicatorTypeNum = -1
343
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284 tmpIndicators = {}
342
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285 for row in cursor:
343
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286 if row[0] != interactionNum: # save interaction and create new interaction
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287 if interactionNum >= 0:
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288 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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diff changeset
289 interactions[-1].indicators = tmpIndicators
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diff changeset
290 tmpIndicators = {}
342
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diff changeset
291 interactionNum = row[0]
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diff changeset
292 roadUserNumbers = row[1:3]
343
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diff changeset
293 if indicatorTypeNum != row[5]:
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294 if indicatorTypeNum >= 0:
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diff changeset
295 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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diff changeset
296 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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297 indicatorTypeNum = row[5]
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298 indicatorValues = {row[6]:row[7]}
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299 else:
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diff changeset
300 indicatorValues[row[6]] = row[7]
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301 if interactionNum >= 0:
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302 if indicatorTypeNum >= 0:
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diff changeset
303 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
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diff changeset
304 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
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diff changeset
305 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
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diff changeset
306 interactions[-1].indicators = tmpIndicators
342
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diff changeset
307 except sqlite3.OperationalError as error:
491
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diff changeset
308 printDBError(error)
343
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diff changeset
309 return []
342
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diff changeset
310 connection.close()
343
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diff changeset
311 return interactions
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diff changeset
312 # load first and last object instants
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diff changeset
313 # CREATE TEMP TABLE IF NOT EXISTS object_instants AS SELECT OF.object_id, min(frame_number) as first_instant, max(frame_number) as last_instant from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by OF.object_id order by OF.object_id
342
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
314
390
12be4a0cb9aa sql code to create bounding boxes in image space
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parents: 382
diff changeset
315 def createBoundingBoxTable(filename, invHomography = None):
482
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parents: 417
diff changeset
316 '''Create the table to store the object bounding boxes in image space
390
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diff changeset
317 '''
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parents: 382
diff changeset
318 connection = sqlite3.connect(filename)
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parents: 382
diff changeset
319 cursor = connection.cursor()
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parents: 382
diff changeset
320 try:
394
6567fee37c16 renamed table for bounding boxes
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diff changeset
321 cursor.execute('CREATE TABLE IF NOT EXISTS bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))')
6567fee37c16 renamed table for bounding boxes
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parents: 393
diff changeset
322 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
390
12be4a0cb9aa sql code to create bounding boxes in image space
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parents: 382
diff changeset
323 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
12be4a0cb9aa sql code to create bounding boxes in image space
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parents: 382
diff changeset
324 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+
12be4a0cb9aa sql code to create bounding boxes in image space
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diff changeset
325 'GROUP BY object_id, frame_number')
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parents: 382
diff changeset
326 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
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parents: 482
diff changeset
327 printDBError(error)
390
12be4a0cb9aa sql code to create bounding boxes in image space
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parents: 382
diff changeset
328 connection.commit()
12be4a0cb9aa sql code to create bounding boxes in image space
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diff changeset
329 connection.close()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
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diff changeset
330
393
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diff changeset
331 def loadBoundingBoxTable(filename):
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parents: 390
diff changeset
332 connection = sqlite3.connect(filename)
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parents: 390
diff changeset
333 cursor = connection.cursor()
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parents: 390
diff changeset
334 boundingBoxes = {} # list of bounding boxes for each instant
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
335 try:
394
6567fee37c16 renamed table for bounding boxes
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parents: 393
diff changeset
336 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
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parents: 390
diff changeset
337 result = [row for row in cursor]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
338 if len(result) > 0:
394
6567fee37c16 renamed table for bounding boxes
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diff changeset
339 cursor.execute('SELECT * FROM bounding_boxes')
393
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diff changeset
340 #objId = -1
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diff changeset
341 for row in cursor:
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parents: 390
diff changeset
342 #if row[0] != objId:
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parents: 390
diff changeset
343 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
344 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
345 printDBError(error)
393
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parents: 390
diff changeset
346 return boundingBoxes
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
347 connection.close()
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parents: 390
diff changeset
348 return boundingBoxes
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parents: 390
diff changeset
349
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
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parents: 390
diff changeset
350
329
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diff changeset
351 #########################
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parents: 327
diff changeset
352 # txt files
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parents: 327
diff changeset
353 #########################
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parents: 327
diff changeset
354
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
355 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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parents:
diff changeset
356 '''Reads data from the trajectory data provided by NGSIM project
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parents:
diff changeset
357 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
358 objects = []
0
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parents:
diff changeset
359
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
360 input = utils.openCheck(filename)
0
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parents:
diff changeset
361 if not input:
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
362 import sys
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
363 sys.exit()
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
364
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
365 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
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parents:
diff changeset
366 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
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parents: 0
diff changeset
367 # do the geometry and usertype
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parents: 0
diff changeset
368
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
369 firstFrameNum = int(numbers[1])
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
370 lastFrameNum = firstFrameNum+int(numbers[2])-1
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
371 #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
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parents: 50
diff changeset
372 obj = moving.MovingObject(num = int(numbers[0]),
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parents: 50
diff changeset
373 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents: 50
diff changeset
374 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
375 userType = int(numbers[10]))
78
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
376 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
377 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
378 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
379 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
380 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
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parents: 72
diff changeset
381 obj.timeHeadways = [float(numbers[17])] # seconds
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
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parents: 326
diff changeset
382 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
383 obj.speeds = [float(numbers[11])]
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384 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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385 return obj
0
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386
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387 numbers = input.readline().strip().split()
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388 if (len(numbers) > 0):
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389 obj = createObject(numbers)
0
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390
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391 for line in input:
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392 numbers = line.strip().split()
329
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393 if obj.getNum() != int(numbers[0]):
0
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394 # check and adapt the length to deal with issues in NGSIM data
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395 if (obj.length() != obj.positions.length()):
329
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396 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
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397 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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398 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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399 objects.append(obj)
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400 if (nObjects>0) and (len(objects)>=nObjects):
0
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401 break
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402 obj = createObject(numbers)
0
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403 else:
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404 obj.laneNums.append(int(numbers[13]))
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405 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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406 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
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407 obj.speeds.append(float(numbers[11]))
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408 obj.precedingVehicles.append(int(numbers[14]))
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409 obj.followingVehicles.append(int(numbers[15]))
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410 obj.spaceHeadways.append(float(numbers[16]))
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411 obj.timeHeadways.append(float(numbers[17]))
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412
72
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413 if (obj.size[0] != float(numbers[8])):
329
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414 print 'changed length obj %d' % (obj.getNum())
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415 if (obj.size[1] != float(numbers[9])):
329
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416 print 'changed width obj %d' % (obj.getNum())
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417
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418 input.close()
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419 return objects
0
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420
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421 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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422 '''Reads data from the trajectory data provided by NGSIM project
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423 and converts to our current format.'''
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424 if append:
377
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425 out = utils.openCheck(outFile,'a')
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426 else:
377
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427 out = utils.openCheck(outFile,'w')
0
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428 nObjectsPerType = [0,0,0]
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429
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430 features = loadNgsimFile(inFile, sequenceNum)
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431 for f in features:
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432 nObjectsPerType[f.userType-1] += 1
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433 f.write(out)
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434
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435 print nObjectsPerType
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436
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437 out.close()
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438
335
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439 def writePositionsToCsv(f, obj):
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440 timeInterval = obj.getTimeInterval()
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441 positions = obj.getPositions()
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442 curvilinearPositions = obj.getCurvilinearPositions()
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443 for i in xrange(int(obj.length())):
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444 p1 = positions[i]
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445 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
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446 if curvilinearPositions != None:
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447 p2 = curvilinearPositions[i]
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448 s += ',{},{}'.format(p2[0],p2[1])
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449 f.write(s+'\n')
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450
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451 def writeTrajectoriesToCsv(filename, objects):
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452 f = utils.openCheck(filename, 'w')
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453 for i,obj in enumerate(objects):
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454 writePositionsToCsv(f, obj)
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455 f.close()
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456
377
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457 def writeList(filename, l):
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458 f = utils.openCheck(filename, 'w')
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459 for x in l:
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460 f.write('{}\n'.format(x))
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461 f.close()
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462
382
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463 def loadListStrings(filename):
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464 f = utils.openCheck(filename, 'r')
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465 result = [l.strip() for l in f]
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466 f.close()
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467 return result
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468
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469
215
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470 if __name__ == "__main__":
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471 import doctest
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472 import unittest
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473 suite = doctest.DocFileSuite('tests/storage.txt')
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474 unittest.TextTestRunner().run(suite)
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475 # #doctest.testmod()
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diff changeset
476 # #doctest.testfile("example.txt")