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annotate python/storage.py @ 335:3950bfe22768

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added functions to export trajectories to csv
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jun 2013 11:47:24 -0400
parents 00800ebae698
children 1046b7346886
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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
7
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5 import utils
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6 import moving
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8 __metaclass__ = type
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9
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11 ngsimUserTypes = {'twowheels':1,
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12 'car':2,
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13 'truck':3}
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15 #########################
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16 # Sqlite
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17 #########################
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18
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19 def writeTrajectoriesToSqlite(objects, outFilename, trajectoryType, objectNumbers = -1):
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20 """
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21 This function writers trajectories to a specified sqlite file
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22 @param[in] objects -> a list of trajectories
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23 @param[in] trajectoryType -
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24 @param[out] outFile -> the .sqlite file containting the written objects
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25 @param[in] objectNumber : number of objects loaded
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26 """
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27
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28 import sqlite3
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29 connection = sqlite3.connect(outFilename)
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30 cursor = connection.cursor()
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31
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32 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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33 cursor.execute(schema)
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34
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35 trajectory_id = 0
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36 frame_number = 0
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37 if trajectoryType == 'feature':
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38 if type(objectNumbers) == int and objectNumbers == -1:
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39 for trajectory in objects:
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40 trajectory_id += 1
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41 frame_number = 0
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42 for position in trajectory.getPositions():
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43 frame_number += 1
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44 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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45 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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47 connection.commit()
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48 connection.close()
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49
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50 def setRoadUserTypes(filename, objects):
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51 '''Saves the user types of the objects in the sqlite database stored in filename
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52 The objects should exist in the objects table'''
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53 import sqlite3
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54 connection = sqlite3.connect(filename)
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55 cursor = connection.cursor()
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56 for obj in objects:
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57 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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58 connection.commit()
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59 connection.close()
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60
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61 def loadPrototypeMatchIndexesFromSqlite(filename):
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62 """
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63 This function loads the prototypes table in the database of name <filename>.
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64 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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65 """
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66 matched_indexes = []
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67
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68 import sqlite3
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69 connection = sqlite3.connect(filename)
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70 cursor = connection.cursor()
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72 try:
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73 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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74 except sqlite3.OperationalError as err:
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75 print('DB Error: {0}'.format(err))
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76 return []
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78 for row in cursor:
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79 matched_indexes.append((row[0],row[1]))
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80
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81 connection.close()
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82 return matched_indexes
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83
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84 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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85 if trajectoryType == 'feature':
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86 statementBeginning = 'where trajectory_id '
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87 elif trajectoryType == 'object':
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88 statementBeginning = 'and OF.object_id '
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89 else:
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90 print('no trajectory type was chosen')
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92 if type(objectNumbers) == int:
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93 if objectNumbers == -1:
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94 query = ''
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95 else:
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96 query = statementBeginning+'between 0 and {0} '.format(objectNumbers)
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97 elif type(objectNumbers) == list:
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98 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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99 return query
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100
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101 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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102 '''Loads trajectories (in the general sense) from the given table
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103 can be positions or velocities
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104
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105 returns a moving object'''
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106 import sqlite3
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107
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108 cursor = connection.cursor()
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109
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110 try:
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111 if trajectoryType == 'feature':
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112 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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113 cursor.execute('SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number')
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114 elif trajectoryType == 'object':
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115 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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116 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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117 else:
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118 print('no trajectory type was chosen')
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119 except sqlite3.OperationalError as err:
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120 print('DB Error: {0}'.format(err))
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121 return []
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122
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123 objId = -1
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124 obj = None
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125 objects = []
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126 for row in cursor:
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127 if row[0] != objId:
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128 objId = row[0]
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129 if obj:
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130 objects.append(obj)
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131 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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132 else:
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133 obj.timeInterval.last = row[1]
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134 obj.positions.addPositionXY(row[2],row[3])
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135
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136 if obj:
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137 objects.append(obj)
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138
239
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139 return objects
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140
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141 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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142 '''Loads nObjects or the indices in objectNumbers from the database
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143 TODO: load feature numbers and not average feature trajectories
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144 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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145 '''
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146 import sqlite3
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147
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148 connection = sqlite3.connect(filename) # add test if it open
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149
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150 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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151 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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152
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153 if len(objectVelocities) > 0:
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154 for o,v in zip(objects, objectVelocities):
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155 if o.getNum() == v.getNum():
239
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156 o.velocities = v.positions
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157 else:
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158 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
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159
263
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160 if trajectoryType == 'object':
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161 cursor = connection.cursor()
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162 try:
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163 # attribute feature numbers to objects
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164 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
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165 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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166
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167 featureNumbers = {}
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168 for row in cursor:
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169 objId = row[1]
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170 if objId not in featureNumbers:
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171 featureNumbers[objId] = [row[0]]
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172 else:
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173 featureNumbers[objId].append(row[0])
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174
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175 for obj in objects:
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176 obj.featureNumbers = featureNumbers[obj.getNum()]
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177
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178 # load userType
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179 if objectIdQuery == '':
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180 cursor.execute('SELECT object_id, road_user_type from objects')
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181 else:
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182 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
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183 userTypes = {}
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184 for row in cursor:
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185 userTypes[row[0]] = row[1]
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186
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187 for obj in objects:
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188 obj.userType = userTypes[obj.getNum()]
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189
263
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190 except sqlite3.OperationalError as err:
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191 print('DB Error: {0}'.format(err))
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192 return []
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193
143
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194 connection.close()
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195 return objects
0
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196
235
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197 def removeObjectsFromSqlite(filename):
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198 'Removes the objects and object_features tables in the filename'
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199 import sqlite3
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200 connection = sqlite3.connect(filename)
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201 utils.dropTables(connection, ['objects', 'objects_features'])
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202 connection.close()
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203
329
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204
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205 #########################
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206 # txt files
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207 #########################
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208
173
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diff changeset
209 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
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210 '''Reads data from the trajectory data provided by NGSIM project
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211 and returns the list of Feature objects'''
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212 objects = []
0
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213
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214 input = utils.openCheck(filename)
0
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215 if not input:
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216 import sys
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217 sys.exit()
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218
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219 def createObject(numbers):
0
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220 firstFrameNum = int(numbers[1])
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221 # do the geometry and usertype
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222
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223 firstFrameNum = int(numbers[1])
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224 lastFrameNum = firstFrameNum+int(numbers[2])-1
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225 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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226 obj = moving.MovingObject(num = int(numbers[0]),
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227 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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228 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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229 userType = int(numbers[10]))
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230 obj.userType = int(numbers[10])
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231 obj.laneNums = [int(numbers[13])]
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232 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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diff changeset
233 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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diff changeset
234 obj.spaceHeadways = [float(numbers[16])] # feet
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235 obj.timeHeadways = [float(numbers[17])] # seconds
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diff changeset
236 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate
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diff changeset
237 obj.speeds = [float(numbers[11])]
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238 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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239 return obj
0
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240
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241 numbers = input.readline().strip().split()
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242 if (len(numbers) > 0):
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243 obj = createObject(numbers)
0
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244
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245 for line in input:
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246 numbers = line.strip().split()
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247 if obj.getNum() != int(numbers[0]):
0
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248 # check and adapt the length to deal with issues in NGSIM data
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249 if (obj.length() != obj.positions.length()):
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250 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
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251 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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diff changeset
252 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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253 objects.append(obj)
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254 if (nObjects>0) and (len(objects)>=nObjects):
0
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255 break
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diff changeset
256 obj = createObject(numbers)
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257 else:
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258 obj.laneNums.append(int(numbers[13]))
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259 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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260 obj.curvilinearPositions.addPosition(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
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261 obj.speeds.append(float(numbers[11]))
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262 obj.precedingVehicles.append(int(numbers[14]))
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263 obj.followingVehicles.append(int(numbers[15]))
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264 obj.spaceHeadways.append(float(numbers[16]))
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265 obj.timeHeadways.append(float(numbers[17]))
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266
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267 if (obj.size[0] != float(numbers[8])):
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268 print 'changed length obj %d' % (obj.getNum())
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269 if (obj.size[1] != float(numbers[9])):
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270 print 'changed width obj %d' % (obj.getNum())
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272 input.close()
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273 return objects
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275 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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276 '''Reads data from the trajectory data provided by NGSIM project
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277 and converts to our current format.'''
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278 if append:
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279 out = open(outFile,'a')
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280 else:
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281 out = open(outFile,'w')
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282 nObjectsPerType = [0,0,0]
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283
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284 features = loadNgsimFile(inFile, sequenceNum)
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285 for f in features:
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286 nObjectsPerType[f.userType-1] += 1
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287 f.write(out)
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288
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289 print nObjectsPerType
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290
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291 out.close()
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292
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293 def writePositionsToCsv(f, obj):
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294 timeInterval = obj.getTimeInterval()
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295 positions = obj.getPositions()
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296 curvilinearPositions = obj.getCurvilinearPositions()
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297 for i in xrange(int(obj.length())):
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298 p1 = positions[i]
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299 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
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300 if curvilinearPositions != None:
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301 p2 = curvilinearPositions[i]
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302 s += ',{},{}'.format(p2[0],p2[1])
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303 f.write(s+'\n')
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304
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305 def writeTrajectoriesToCsv(filename, objects):
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306 f = open(filename, 'w')
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307 for i,obj in enumerate(objects):
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308 writePositionsToCsv(f, obj)
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309 f.close()
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310
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311 if __name__ == "__main__":
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312 import doctest
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313 import unittest
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314 suite = doctest.DocFileSuite('tests/storage.txt')
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315 unittest.TextTestRunner().run(suite)
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316 # #doctest.testmod()
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317 # #doctest.testfile("example.txt")