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annotate trafficintelligence/storage.py @ 1258:3d6ee243d5c0

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update to add curvilinear positions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 07 Apr 2024 22:09:40 -0400
parents e59a0a475a0a
children 28aeec1f2788
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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 from pathlib import Path
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6 import shutil
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7 from copy import copy
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8 import sqlite3, logging
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9
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10 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt, floor as npfloor, ceil as npceil, linalg, int32, int64, reshape, dot, vstack, transpose, ones, zeros_like, pi, NaN
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11 from pandas import read_csv, merge, concat, DataFrame
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12
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13 from trafficintelligence import utils, moving, events, indicators
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14 from trafficintelligence.base import VideoFilenameAddable
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15
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16
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17 ngsimUserTypes = {'twowheels':1,
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18 'car':2,
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19 'truck':3}
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20
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21 tableNames = {'feature':'positions',
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22 'object': 'objects',
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23 'objectfeatures': 'positions'}
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24
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25 sqlite3.register_adapter(int64, lambda val: int(val))
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26 sqlite3.register_adapter(int32, lambda val: int(val))
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27
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28 #########################
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29 # Sqlite
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30 #########################
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31
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32 # utils
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33 def printDBError(error):
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34 print('DB Error: {}'.format(error))
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35
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36 def dropTables(connection, tableNames):
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37 'deletes the table with names in tableNames'
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38 try:
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39 cursor = connection.cursor()
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40 for tableName in tableNames:
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41 cursor.execute('DROP TABLE IF EXISTS '+tableName)
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42 except sqlite3.OperationalError as error:
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43 printDBError(error)
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44
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45 def deleteFromSqlite(filename, dataType):
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46 'Deletes (drops) some tables in the filename depending on type of data'
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47 if Path(filename).is_file():
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48 with sqlite3.connect(filename) as connection:
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49 if dataType == 'object':
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50 dropTables(connection, ['objects', 'objects_features'])
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51 elif dataType == 'interaction':
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52 dropTables(connection, ['interactions', 'indicators'])
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53 elif dataType == 'curvilinear':
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54 dropTables(connection, ['curvilinear_positions'])
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55 elif dataType == 'bb':
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56 dropTables(connection, ['bounding_boxes'])
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57 elif dataType == 'pois':
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58 dropTables(connection, ['gaussians2d', 'objects_pois'])
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59 elif dataType == 'prototype':
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60 dropTables(connection, ['prototypes', 'objects_prototypes', 'features_prototypes'])
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61 else:
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62 print('Unknown data type {} to delete from database'.format(dataType))
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63 else:
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64 print('{} does not exist'.format(filename))
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65
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66 def tableExists(connection, tableName):
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67 'indicates if the table exists in the database'
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68 try:
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69 cursor = connection.cursor()
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70 cursor.execute('SELECT COUNT(*) FROM SQLITE_MASTER WHERE type = \'table\' AND name = \''+tableName+'\'')
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71 return cursor.fetchone()[0] == 1
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72 except sqlite3.OperationalError as error:
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73 printDBError(error)
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74
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75 def tableNames(filename):
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76 'Lists the names of the tables in the SQLite file'
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77 if Path(filename).is_file():
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78 with sqlite3.connect(filename) as connection:
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79 try:
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80 cursor = connection.cursor()
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81 cursor.execute('SELECT name FROM sqlite_master WHERE type = \'table\'')
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82 return [row[0] for row in cursor]
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83 except sqlite3.OperationalError as error:
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84 printDBError(error)
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85 return []
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86
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87 def createTrajectoryTable(cursor, tableName):
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88 if tableName.endswith('positions') or tableName.endswith('velocities'):
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89 cursor.execute("CREATE TABLE IF NOT EXISTS "+tableName+" (trajectory_id INTEGER, frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))")
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90 else:
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91 print('Unallowed name {} for trajectory table'.format(tableName))
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92
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93 def createObjectsTable(cursor):
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94 cursor.execute("CREATE TABLE IF NOT EXISTS objects (object_id INTEGER, road_user_type INTEGER, n_objects INTEGER, PRIMARY KEY(object_id))")
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95
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96 def createAssignmentTable(cursor, objectType1, objectType2, objectIdColumnName1, objectIdColumnName2):
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97 cursor.execute("CREATE TABLE IF NOT EXISTS "+objectType1+"s_"+objectType2+"s ("+objectIdColumnName1+" INTEGER, "+objectIdColumnName2+" INTEGER, PRIMARY KEY("+objectIdColumnName1+","+objectIdColumnName2+"))")
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98
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99 def createObjectsFeaturesTable(cursor):
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100 cursor.execute("CREATE TABLE IF NOT EXISTS objects_features (object_id INTEGER, trajectory_id INTEGER, PRIMARY KEY(object_id, trajectory_id))")
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101
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102
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103 def createCurvilinearTrajectoryTable(cursor):
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104 cursor.execute("CREATE TABLE IF NOT EXISTS curvilinear_positions (trajectory_id INTEGER, frame_number INTEGER, s_coordinate REAL, y_coordinate REAL, lane TEXT, PRIMARY KEY(trajectory_id, frame_number))")
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105
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106 def createFeatureCorrespondenceTable(cursor):
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107 cursor.execute('CREATE TABLE IF NOT EXISTS feature_correspondences (trajectory_id INTEGER, source_dbname VARCHAR, db_trajectory_id INTEGER, PRIMARY KEY(trajectory_id))')
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108
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109 def createInteractionTable(cursor):
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110 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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111
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112 def createIndicatorTable(cursor):
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113 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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114
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115 def insertTrajectoryQuery(tableName):
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116 return "INSERT INTO "+tableName+" VALUES (?,?,?,?)"
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117
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118 def insertObjectQuery():
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119 return "INSERT INTO objects VALUES (?,?,?)"
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120
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121 def insertObjectFeatureQuery():
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122 return "INSERT INTO objects_features VALUES (?,?)"
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123
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124 def createIndex(connection, tableName, columnName, unique = False):
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125 '''Creates an index for the column in the table
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126 I will make querying with a condition on this column faster'''
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127 try:
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128 cursor = connection.cursor()
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129 s = "CREATE "
d6c69d3d09e5 developing python performance tests for SQLite
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130 if unique:
d6c69d3d09e5 developing python performance tests for SQLite
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131 s += "UNIQUE "
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diff changeset
132 cursor.execute(s+"INDEX IF NOT EXISTS "+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")")
d6c69d3d09e5 developing python performance tests for SQLite
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133 connection.commit()
d6c69d3d09e5 developing python performance tests for SQLite
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134 #connection.close()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
135 except sqlite3.OperationalError as error:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
136 printDBError(error)
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
137
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
138 def getNumberRowsTable(connection, tableName, columnName = None):
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
139 '''Returns the number of rows for the table
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
140 If columnName is not None, means we want the number of distinct values for that column
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
141 (otherwise, we can just count(*))'''
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
142 try:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
143 cursor = connection.cursor()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
144 if columnName is None:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
145 cursor.execute("SELECT COUNT(*) from "+tableName)
711
523eda2fafd4 added function to create index
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parents: 704
diff changeset
146 else:
714
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diff changeset
147 cursor.execute("SELECT COUNT(DISTINCT "+columnName+") from "+tableName)
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diff changeset
148 return cursor.fetchone()[0]
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
149 except sqlite3.OperationalError as error:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
150 printDBError(error)
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diff changeset
151
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diff changeset
152 def getMinMax(connection, tableName, columnName, minmax):
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153 '''Returns max/min or both for given column in table
d6c69d3d09e5 developing python performance tests for SQLite
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154 minmax must be string max, min or minmax'''
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
155 try:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
156 cursor = connection.cursor()
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
157 if minmax == 'min' or minmax == 'max':
d6c69d3d09e5 developing python performance tests for SQLite
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parents: 712
diff changeset
158 cursor.execute("SELECT "+minmax+"("+columnName+") from "+tableName)
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diff changeset
159 elif minmax == 'minmax':
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
160 cursor.execute("SELECT MIN("+columnName+"), MAX("+columnName+") from "+tableName)
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
161 else:
d6c69d3d09e5 developing python performance tests for SQLite
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diff changeset
162 print("Argument minmax unknown: {}".format(minmax))
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diff changeset
163 return cursor.fetchone()[0]
711
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parents: 704
diff changeset
164 except sqlite3.OperationalError as error:
523eda2fafd4 added function to create index
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
165 printDBError(error)
523eda2fafd4 added function to create index
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parents: 704
diff changeset
166
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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167 def getObjectCriteria(objectNumbers):
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
168 if objectNumbers is None:
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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169 query = ''
aab2242ea88c minor modification of objectNumbers to None
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diff changeset
170 elif type(objectNumbers) == int:
852
45a53542e046 updated unnecessary complicated query
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 850
diff changeset
171 query = '<= {0}'.format(objectNumbers-1)
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
172 elif type(objectNumbers) == list:
693
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
173 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')'
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
174 else:
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
175 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers)))
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
176 query = ''
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
177 return query
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
178
834
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
179 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None, timeStep = None):
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
180 '''Loads trajectories (in the general sense) from the given table
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
181 can be positions or velocities
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
182
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
183 returns a moving object'''
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
184 cursor = connection.cursor()
204
966c2cd2bd9f added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 203
diff changeset
185
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
186 try:
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
187 objectCriteria = getObjectCriteria(objectNumbers)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
188 queryStatement = None
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
189 if trajectoryType == 'feature':
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
190 queryStatement = 'SELECT * from '+tableName
834
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parents: 831
diff changeset
191 if objectNumbers is not None and timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
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parents: 831
diff changeset
192 queryStatement += ' WHERE trajectory_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
193 elif objectNumbers is not None:
750
6049e9b6902c work in progress storage vissim sqlite
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diff changeset
194 queryStatement += ' WHERE trajectory_id '+objectCriteria
834
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
195 elif timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
196 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
197 queryStatement += ' ORDER BY trajectory_id, frame_number'
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
198 elif trajectoryType == 'object':
750
6049e9b6902c work in progress storage vissim sqlite
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diff changeset
199 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'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
200 if objectNumbers is not None:
834
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
201 queryStatement += ' AND OF.object_id '+objectCriteria
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
202 if timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
203 queryStatement += ' AND P.frame_number%{} = 0'.format(timeStep)
712
21aeadcfbabb added script to test SQLite performance and impact of indices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 711
diff changeset
204 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number'
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
205 elif trajectoryType in ['bbtop', 'bbbottom']:
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
206 if trajectoryType == 'bbtop':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
207 corner = 'top_left'
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
208 elif trajectoryType == 'bbbottom':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
209 corner = 'bottom_right'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
210 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName
834
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
211 if objectNumbers is not None and timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
212 queryStatement += ' WHERE object_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep)
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
213 elif objectNumbers is not None:
712
21aeadcfbabb added script to test SQLite performance and impact of indices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 711
diff changeset
214 queryStatement += ' WHERE object_id '+objectCriteria
834
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
215 elif timeStep is not None:
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
216 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep)
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
217 queryStatement += ' ORDER BY object_id, frame_number'
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
218 else:
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
219 print('Unknown trajectory type {}'.format(trajectoryType))
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
220 if queryStatement is not None:
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
221 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
222 logging.debug(queryStatement)
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
223 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
224 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
225 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
226
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
227 objId = -1
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
228 obj = None
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
229 objects = []
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
230 for row in cursor:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
231 if row[0] != objId:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
232 objId = row[0]
834
119c4efe6398 added option to load subsampled trajectories
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parents: 831
diff changeset
233 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
234 objects.append(obj)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
235 elif obj is not None:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
236 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
237 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
238 else:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
239 obj.timeInterval.last = row[1]
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
240 obj.positions.addPositionXY(row[2],row[3])
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
241
834
119c4efe6398 added option to load subsampled trajectories
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parents: 831
diff changeset
242 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())):
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
243 objects.append(obj)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
244 elif obj is not None:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
245 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length()))
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
246
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
247 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
248
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
249 def loadObjectAttributesFromTable(cursor, objectNumbers, loadNObjects = False):
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
250 objectCriteria = getObjectCriteria(objectNumbers)
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
251 queryStatement = 'SELECT object_id, road_user_type'
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
252 if loadNObjects:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
253 queryStatement += ', n_objects'
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
254 queryStatement += ' FROM objects'
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
255 if objectNumbers is not None:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
256 queryStatement += ' WHERE object_id '+objectCriteria
693
5ee22bf7e4d5 corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 690
diff changeset
257 cursor.execute(queryStatement)
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
258 attributes = {}
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
259 if loadNObjects:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
260 for row in cursor:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
261 attributes[row[0]] = row[1:]
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
262 else:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
263 for row in cursor:
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
264 attributes[row[0]] = row[1]
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
265 return attributes
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
266
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
267 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False, timeStep = None, nLongestFeaturesPerObject = None):
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
268 '''Loads the trajectories (in the general sense,
1044
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
269 either features, objects (feature groups), longest features per object, or bounding box series)
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
270 types are only feature or object
75a6ad604cc5 work on motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1041
diff changeset
271 if object, features can be loaded with withFeatures or nLongestObjectFeatures used to select the n longest features
1040
20799ac9524e integrating code of learn-motion-patterns in storage.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1039
diff changeset
272
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
273 The number loaded is either the first objectNumbers objects,
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
274 or the indices in objectNumbers from the database'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
275 objects = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
276 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
277 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
278 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
279 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers, timeStep)
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
280
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
281 if len(objectVelocities) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
282 for o,v in zip(objects, objectVelocities):
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
283 if o.getNum() == v.getNum():
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
284 o.velocities = v.positions
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
285 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
286 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
287 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
288
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
289 if trajectoryType == 'object':
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
290 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
291 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
292 # attribute feature numbers to objects
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
293 queryStatement = 'SELECT trajectory_id, object_id FROM objects_features'
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
294 if objectNumbers is not None:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
295 queryStatement += ' WHERE object_id '+getObjectCriteria(objectNumbers)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
296 queryStatement += ' ORDER BY object_id' # order is important to group all features per object
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
297 logging.debug(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
298 cursor.execute(queryStatement)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
299
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
300 featureNumbers = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
301 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
302 objId = row[1]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
303 if objId not in featureNumbers:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
304 featureNumbers[objId] = [row[0]]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
305 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
306 featureNumbers[objId].append(row[0])
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
307
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
308 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
309 obj.featureNumbers = featureNumbers[obj.getNum()]
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
310
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
311 # load userType
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
312 attributes = loadObjectAttributesFromTable(cursor, objectNumbers, True)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
313 for obj in objects:
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
314 userType, nObjects = attributes[obj.getNum()]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
315 obj.setUserType(userType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
316 obj.setNObjects(nObjects)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
317
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
318 # add features
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
319 if withFeatures:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
320 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
321 obj.features = loadTrajectoriesFromSqlite(filename, 'feature', obj.featureNumbers, timeStep = timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
322 elif nLongestFeaturesPerObject is not None:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
323 for obj in objects:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
324 queryStatement = 'SELECT trajectory_id, max(frame_number)-min(frame_number) AS length FROM positions WHERE trajectory_id '+getObjectCriteria(obj.featureNumbers)+' GROUP BY trajectory_id ORDER BY length DESC'
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
325 logging.debug(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
326 cursor.execute(queryStatement)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
327 obj.features = loadTrajectoriesFromSqlite(filename, 'feature', [row[0] for i,row in enumerate(cursor) if i<nLongestFeaturesPerObject], timeStep = timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
328
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
329 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
330 printDBError(error)
1178
ee3eaf902b83 minor improvement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1177
diff changeset
331 else:
ee3eaf902b83 minor improvement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1177
diff changeset
332 print('Impossible to load from non-existing file '+filename)
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
333 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
334
910
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
335 def loadObjectFeatureFrameNumbers(filename, objectNumbers = None):
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
336 'Loads the feature frame numbers for each object'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
337 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
338 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
339 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
340 queryStatement = 'SELECT OF.object_id, TL.trajectory_id, TL.length FROM (SELECT trajectory_id, max(frame_number)-min(frame_number) AS length FROM positions GROUP BY trajectory_id) TL, objects_features OF WHERE TL.trajectory_id = OF.trajectory_id'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
341 if objectNumbers is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
342 queryStatement += ' AND object_id '+getObjectCriteria(objectNumbers)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
343 queryStatement += ' ORDER BY OF.object_id, TL.length DESC'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
344 logging.debug(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
345 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
346 objectFeatureNumbers = {}
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
347 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
348 objId = row[0]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
349 if objId in objectFeatureNumbers:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
350 objectFeatureNumbers[objId].append(row[1])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
351 else:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
352 objectFeatureNumbers[objId] = [row[1]]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
353 return objectFeatureNumbers
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
354 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
355 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
356 return None
910
b58a1061a717 loading is faster for longest object features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 909
diff changeset
357
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
358 def addCurvilinearTrajectoriesFromSqlite(filename, objects):
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
359 '''Adds curvilinear positions (s_coordinate, y_coordinate, lane)
1258
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
360 from a database to an existing MovingObject dict (indexed by each objects's num) or list'''
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
361 if type(objects) == list:
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
362 _objects = {obj.getNum(): obj for obj in objects}
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
363 elif type(objects) == dict:
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
364 _objects = objects
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
365 else:
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
366 print('objects should be a list of dictionary of objects indexed by their num')
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
367 return None
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
368
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
369 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
370 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
371
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
372 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
373 cursor.execute('SELECT * from curvilinear_positions order by trajectory_id, frame_number')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
374 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
375 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
376 return []
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
377
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
378 missingObjectNumbers = []
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
379 objNum = None
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
380 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
381 if objNum != row[0]:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
382 objNum = row[0]
1258
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
383 if objNum in _objects:
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
384 _objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
385 else:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
386 missingObjectNumbers.append(objNum)
1258
3d6ee243d5c0 update to add curvilinear positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1257
diff changeset
387 if objNum in _objects:
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
388 objects[objNum].curvilinearPositions.addPositionSYL(row[2],row[3],row[4])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
389 if len(missingObjectNumbers) > 0:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
390 print('List of missing objects to attach corresponding curvilinear trajectories: {}'.format(missingObjectNumbers))
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
391
1039
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
392 def saveTrajectoriesToTable(connection, objects, trajectoryType):
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
393 'Saves trajectories in table tableName'
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
394 cursor = connection.cursor()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
395 # Parse feature and/or object structure and commit to DB
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
396 if(trajectoryType == 'feature' or trajectoryType == 'object'):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
397 # Extract features from objects
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
398 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
399 features = []
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
400 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
401 if obj.hasFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
402 features += obj.getFeatures()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
403 if len(features) == 0:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
404 print('Warning, objects have no features') # todo save centroid trajectories?
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
405 elif trajectoryType == 'feature':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
406 features = objects
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
407 # Setup feature queries
1039
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
408 createTrajectoryTable(cursor, "positions")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
409 createTrajectoryTable(cursor, "velocities")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
410 positionQuery = insertTrajectoryQuery("positions")
5621e4ad2428 removing prefix option to loadtrajectories from SQLite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1037
diff changeset
411 velocityQuery = insertTrajectoryQuery("velocities")
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
412 # Setup object queries
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
413 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
414 createObjectsTable(cursor)
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
415 createObjectsFeaturesTable(cursor)
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
416 objectQuery = insertObjectQuery()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
417 objectFeatureQuery = insertObjectFeatureQuery()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
418 for feature in features:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
419 num = feature.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
420 frameNum = feature.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
421 for p in feature.getPositions():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
422 cursor.execute(positionQuery, (num, frameNum, p.x, p.y))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
423 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
424 velocities = feature.getVelocities()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
425 if velocities is not None:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
426 frameNum = feature.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
427 for v in velocities[:-1]:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
428 cursor.execute(velocityQuery, (num, frameNum, v.x, v.y))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
429 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
430 if trajectoryType == 'object':
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
431 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
432 if obj.hasFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
433 for feature in obj.getFeatures():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
434 featureNum = feature.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
435 cursor.execute(objectFeatureQuery, (obj.getNum(), featureNum))
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
436 cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), obj.nObjects if hasattr(obj, 'nObjects') and obj.nObjects is not None else 1))
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
437 # Parse curvilinear position structure
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
438 elif(trajectoryType == 'curvilinear'):
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
439 createCurvilinearTrajectoryTable(cursor)
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
440 curvilinearQuery = "INSERT INTO curvilinear_positions VALUES (?,?,?,?,?)"
918
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
441 for obj in objects:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
442 num = obj.getNum()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
443 frameNum = obj.getFirstInstant()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
444 for p in obj.getCurvilinearPositions():
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
445 cursor.execute(curvilinearQuery, (num, frameNum, p[0], p[1], p[2]))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
446 frameNum += 1
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
447 else:
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
448 print('Unknown trajectory type {}'.format(trajectoryType))
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
449 connection.commit()
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
450
3a06007a4bb7 modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 917
diff changeset
451 def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType):
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
452 '''Writes features, ie the trajectory positions (and velocities if exist)
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
453 with their instants to a specified sqlite file
780
1b22d81ef5ff cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 778
diff changeset
454 Either feature positions (and velocities if they exist)
879
f9ea5083588e Initial commit of object DB storage update
pstaub
parents: 872
diff changeset
455 or curvilinear positions will be saved at a time'''
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
456
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
457 with sqlite3.connect(outputFilename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
458 try:
1040
20799ac9524e integrating code of learn-motion-patterns in storage.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1039
diff changeset
459 saveTrajectoriesToTable(connection, objects, trajectoryType)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
460 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
461 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
462
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
463 def setRoadUserTypes(filename, objects):
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
464 '''Saves the user types of the objects in the sqlite database stored in filename
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
465 The objects should exist in the objects table'''
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
466 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
467 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
468 for obj in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
469 cursor.execute('update objects set road_user_type = {} WHERE object_id = {}'.format(obj.getUserType(), obj.getNum()))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
470 connection.commit()
778
bd684e57c431 integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 777
diff changeset
471
834
119c4efe6398 added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 831
diff changeset
472 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None, timeStep = None):
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
473 '''Loads bounding box moving object from an SQLite
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
474 (format of SQLite output by the ground truth annotation tool
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
475 or Urban Tracker
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
476
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
477 Load descriptions?'''
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
478 objects = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
479 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
480 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
481 if objectType == 'bb':
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
482 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
483 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers, timeStep)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
484 userTypes = loadObjectAttributesFromTable(connection.cursor(), objectNumbers) # string format is same as object
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
485
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
486 for t, b in zip(topCorners, bottomCorners):
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
487 num = t.getNum()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
488 if t.getNum() == b.getNum():
1133
c4d9c270f999 modification for performance computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1131
diff changeset
489 annotation = moving.BBMovingObject(num, t, b, t.getTimeInterval(), userTypes[num])
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
490 objects.append(annotation)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
491 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
492 print ('Unknown type of bounding box {}'.format(objectType))
768
f8e0a8ea8402 updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 759
diff changeset
493 return objects
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
494
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
495 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
496 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
497 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant()))
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
498
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
499 def saveInteractionsToSqlite(filename, interactions):
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
500 'Saves the interactions in the table'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
501 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
502 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
503 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
504 createInteractionTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
505 for inter in interactions:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
506 saveInteraction(cursor, inter)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
507 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
508 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
509 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
510
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
511 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
512 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
513 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
514 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant]))
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
515
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
516 def saveIndicatorsToSqlite(filename, interactions, indicatorNames = events.Interaction.indicatorNames):
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
517 'Saves the indicator values in the table'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
518 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
519 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
520 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
521 createInteractionTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
522 createIndicatorTable(cursor)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
523 for inter in interactions:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
524 saveInteraction(cursor, inter)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
525 for indicatorName in indicatorNames:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
526 indicator = inter.getIndicator(indicatorName)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
527 if indicator is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
528 saveIndicator(cursor, inter.getNum(), indicator)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
529 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
530 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
531 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
532
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
533 def loadInteractionsFromSqlite(filename):
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
534 '''Loads interaction and their indicators
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
535
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
536 TODO choose the interactions to load'''
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
537 interactions = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
538 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
539 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
540 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
541 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
542 cursor.execute('SELECT INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND WHERE INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type, IND.frame_number')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
543 interactionNum = -1
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
544 indicatorTypeNum = -1
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
545 tmpIndicators = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
546 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
547 if row[0] != interactionNum:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
548 interactionNum = row[0]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
549 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2]))
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
550 interactions[-1].indicators = {}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
551 if indicatorTypeNum != row[5] or row[0] != interactionNum:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
552 indicatorTypeNum = row[5]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
553 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
554 indicatorValues = {row[6]:row[7]}
1182
0e5d37b0b9ff bug corrections
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1178
diff changeset
555 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.mostSevereIsMinIndicators)
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
556 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
557 indicatorValues[row[6]] = row[7]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
558 interactions[-1].indicators[indicatorName].timeInterval.last = row[6]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
559 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
560 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
561 return []
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
562 return interactions
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
563 # load first and last object instants
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
564 # 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
565
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
566 def createBoundingBoxTable(filename, invHomography = None):
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
567 '''Create the table to store the object bounding boxes in image space
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
568 '''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
569 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
570 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
571 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
572 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))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
573 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
574 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
575 '(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])+
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
576 'GROUP BY object_id, frame_number')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
577 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
578 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
579 connection.commit()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
580
586
ff4f0ce46ca6 modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 585
diff changeset
581 def loadBoundingBoxTableForDisplay(filename):
647
458890c0437c cleaned functions to lead bounding boxes (for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 646
diff changeset
582 '''Loads bounding boxes from bounding_boxes table for display over trajectories'''
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
583 boundingBoxes = {} # list of bounding boxes for each instant
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
584 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
585 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
586 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
587 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
588 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
589 result = cursor.fetchall()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
590 if len(result) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
591 cursor.execute('SELECT * FROM bounding_boxes')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
592 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
593 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
594 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
595 printDBError(error)
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
596 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
597
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
598 #########################
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
599 # saving and loading for scene interpretation: POIs and Prototypes
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
600 #########################
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
601
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
602 def savePrototypesToSqlite(filename, prototypes):
1033
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
603 '''save the prototypes (a prototype is defined by a filename, a number (id) and type)'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
604 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
605 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
606 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
607 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (prototype_filename VARCHAR, prototype_id INTEGER, trajectory_type VARCHAR CHECK (trajectory_type IN (\"feature\", \"object\")), nmatchings INTEGER, PRIMARY KEY (prototype_filename, prototype_id, trajectory_type))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
608 for p in prototypes:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
609 cursor.execute('INSERT INTO prototypes VALUES(?,?,?,?)', (p.getFilename(), p.getNum(), p.getTrajectoryType(), p.getNMatchings()))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
610 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
611 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
612 connection.commit()
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
613
1033
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
614 def setPrototypeMatchingsInSqlite(filename, prototypes):
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
615 '''updates the prototype matchings'''
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
616 with sqlite3.connect(filename) as connection:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
617 cursor = connection.cursor()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
618 try:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
619 for p in prototypes:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
620 if p.getNMatchings() is None:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
621 nMatchings = 'NULL'
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
622 else:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
623 nMatchings = p.getNMatchings()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
624 cursor.execute('UPDATE prototypes SET nmatchings = {} WHERE prototype_filename = \"{}\" AND prototype_id = {} AND trajectory_type = \"{}\"'.format(nMatchings, p.getFilename(), p.getNum(), p.getTrajectoryType()))
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
625 except sqlite3.OperationalError as error:
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
626 printDBError(error)
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
627 connection.commit()
8ffb3ae9f3d2 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1030
diff changeset
628
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
629 def prototypeAssignmentNames(objectType):
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
630 tableName = objectType+'s_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
631 if objectType == 'feature':
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
632 #tableName = 'features_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
633 objectIdColumnName = 'trajectory_id'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
634 elif objectType == 'object':
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
635 #tableName = 'objects_prototypes'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
636 objectIdColumnName = 'object_id'
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
637 return tableName, objectIdColumnName
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
638
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
639 def savePrototypeAssignmentsToSqlite(filename, objectNumbers, objectType, labels, prototypes):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
640 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
641 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
642 try:
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
643 tableName, objectIdColumnName = prototypeAssignmentNames(objectType)
979
cc89267b5ff9 work on learning and assigning
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 978
diff changeset
644 cursor.execute('CREATE TABLE IF NOT EXISTS '+tableName+' ('+objectIdColumnName+' INTEGER, prototype_filename VARCHAR, prototype_id INTEGER, trajectory_type VARCHAR CHECK (trajectory_type IN (\"feature\", \"object\")), PRIMARY KEY('+objectIdColumnName+', prototype_filename, prototype_id, trajectory_type))')
1035
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
645 for objNum, label in zip(objectNumbers, labels):
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
646 if label >=0:
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
647 proto = prototypes[label]
933588568bec major update to learn motion pattern, see program description
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1033
diff changeset
648 cursor.execute('INSERT INTO '+tableName+' VALUES(?,?,?,?)', (objNum, proto.getFilename(), proto.getNum(), proto.getTrajectoryType()))
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
649 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
650 printDBError(error)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
651 connection.commit()
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
652
1037
6a6c37eb3a74 added function to load prototype assignments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1035
diff changeset
653 def loadPrototypeAssignmentsFromSqlite(filename, objectType):
1239
31173c4699d2 minor comment
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
654 '''Loads the assignments between prototypes
31173c4699d2 minor comment
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
655 Returns a dictionary with prototypes as keys and a list of
31173c4699d2 minor comment
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1233
diff changeset
656 the objects/feature nums assigned to each'''
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
657 prototypeAssignments = {}
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
658 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
659 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
660 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
661 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
662 tableName, objectIdColumnName = prototypeAssignmentNames(objectType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
663 cursor.execute('SELECT * FROM '+tableName)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
664 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
665 p = moving.Prototype(row[1], row[2], row[3])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
666 if p in prototypeAssignments:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
667 prototypeAssignments[p].append(row[0])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
668 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
669 prototypeAssignments[p] = [row[0]]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
670 return prototypeAssignments
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
671 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
672 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
673 return prototypeAssignments
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
674
920
499154254f37 improved prototype loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 919
diff changeset
675 def loadPrototypesFromSqlite(filename, withTrajectories = True):
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
676 'Loads prototype ids and matchings (if stored)'
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
677 prototypes = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
678 if Path(filename).is_file():
1143
8ac52ebff5f7 avoid using chdir
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1141
diff changeset
679 parentPath = Path(filename).resolve().parent
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
680 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
681 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
682 objects = []
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
683 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
684 cursor.execute('SELECT * FROM prototypes')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
685 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
686 prototypes.append(moving.Prototype(row[0], row[1], row[2], row[3]))
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
687 if withTrajectories:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
688 for p in prototypes:
1143
8ac52ebff5f7 avoid using chdir
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1141
diff changeset
689 p.setMovingObject(loadTrajectoriesFromSqlite(str(parentPath/p.getFilename()), p.getTrajectoryType(), [p.getNum()])[0])
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
690 # loadingInformation = {} # complicated slightly optimized
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
691 # for p in prototypes:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
692 # dbfn = p.getFilename()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
693 # trajType = p.getTrajectoryType()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
694 # if (dbfn, trajType) in loadingInformation:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
695 # loadingInformation[(dbfn, trajType)].append(p)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
696 # else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
697 # loadingInformation[(dbfn, trajType)] = [p]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
698 # for k, v in loadingInformation.iteritems():
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
699 # objects += loadTrajectoriesFromSqlite(k[0], k[1], [p.getNum() for p in v])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
700 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
701 printDBError(error)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
702 if len(set([p.getTrajectoryType() for p in prototypes])) > 1:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
703 print('Different types of prototypes in database ({}).'.format(set([p.getTrajectoryType() for p in prototypes])))
921
630934595871 work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 920
diff changeset
704 return prototypes
917
89cc05867c4c reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 915
diff changeset
705
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
706 def savePOIsToSqlite(filename, gmm, gmmType, gmmId):
871
6db83beb5350 work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 862
diff changeset
707 '''Saves a Gaussian mixture model (of class sklearn.mixture.GaussianMixture)
6db83beb5350 work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 862
diff changeset
708 gmmType is a type of GaussianMixture, learnt either from beginnings or ends of trajectories'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
709 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
710 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
711 if gmmType not in ['beginning', 'end']:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
712 print('Unknown POI type {}. Exiting'.format(gmmType))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
713 import sys
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
714 sys.exit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
715 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
716 cursor.execute('CREATE TABLE IF NOT EXISTS gaussians2d (poi_id INTEGER, id INTEGER, type VARCHAR, x_center REAL, y_center REAL, covariance VARCHAR, covariance_type VARCHAR, weight, precisions_cholesky VARCHAR, PRIMARY KEY(poi_id, id))')
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
717 for i in range(gmm.n_components):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
718 cursor.execute('INSERT INTO gaussians2d VALUES(?,?,?,?,?,?,?,?,?)', (gmmId, i, gmmType, gmm.means_[i][0], gmm.means_[i][1], str(gmm.covariances_[i].tolist()), gmm.covariance_type, gmm.weights_[i], str(gmm.precisions_cholesky_[i].tolist())))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
719 connection.commit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
720 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
721 printDBError(error)
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
722
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
723 def savePOIAssignmentsToSqlite(filename, objects):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
724 'save the od fields of objects'
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
725 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
726 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
727 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
728 cursor.execute('CREATE TABLE IF NOT EXISTS objects_pois (object_id INTEGER, origin_poi_id INTEGER, destination_poi_id INTEGER, PRIMARY KEY(object_id))')
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
729 for o in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
730 cursor.execute('INSERT INTO objects_pois VALUES(?,?,?)', (o.getNum(), o.od[0], o.od[1]))
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
731 connection.commit()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
732 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
733 printDBError(error)
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
734
927
c030f735c594 added assignment of trajectories to prototypes and cleanup of insert queries
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 922
diff changeset
735 def loadPOIsFromSqlite(filename):
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
736 'Loads all 2D Gaussians in the database'
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
737 from sklearn import mixture # todo if not avalaible, load data in duck-typed class with same fields
872
c70adaeeddf5 solved issue with latest version of scikit-learn
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 871
diff changeset
738 from ast import literal_eval
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
739 pois = []
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
740 if Path(filename).is_file():
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
741 with sqlite3.connect(filename) as connection:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
742 cursor = connection.cursor()
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
743 try:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
744 cursor.execute('SELECT * from gaussians2d')
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
745 gmmId = None
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
746 gmm = []
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
747 for row in cursor:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
748 if gmmId is None or row[0] != gmmId:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
749 if len(gmm) > 0:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
750 tmp = mixture.GaussianMixture(len(gmm), covarianceType)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
751 tmp.means_ = array([gaussian['mean'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
752 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
753 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
754 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
755 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
756 pois.append(tmp)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
757 gaussian = {'type': row[2],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
758 'mean': row[3:5],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
759 'covar': array(literal_eval(row[5])),
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
760 'weight': row[7],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
761 'precisions': array(literal_eval(row[8]))}
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
762 gmm = [gaussian]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
763 covarianceType = row[6]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
764 gmmId = row[0]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
765 else:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
766 gmm.append({'type': row[2],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
767 'mean': row[3:5],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
768 'covar': array(literal_eval(row[5])),
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
769 'weight': row[7],
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
770 'precisions': array(literal_eval(row[8]))})
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
771 if len(gmm) > 0:
1200
4356065ed3ca updated simple moving average filter and cleaned tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
772 tmp = mixture.GaussianMixture(n_components=len(gmm), covariance_type=covarianceType)
1050
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
773 tmp.means_ = array([gaussian['mean'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
774 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
775 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
776 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm]
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
777 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm])
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
778 pois.append(tmp)
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
779 except sqlite3.OperationalError as error:
9d4a06f49cb8 work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1049
diff changeset
780 printDBError(error)
805
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
781 return pois
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
782
180b6b0231c0 added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 784
diff changeset
783 #########################
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
784 # saving and loading for scene interpretation (Mohamed Gomaa Mohamed's PhD)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
785 #########################
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
786
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
787 def writePrototypesToSqlite(prototypes,nMatching, outputFilename):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
788 ''' prototype dataset is a dictionary with keys== routes, values== prototypes Ids '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
789 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
790 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
791
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
792 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))')
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
793
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
794 for route in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
795 if prototypes[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
796 for i in prototypes[route]:
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
797 cursor.execute('insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)',(i,route[0],route[1],nMatching[route][i]))
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
798
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
799 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
800 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
801
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
802 def readPrototypesFromSqlite(filename):
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
803 '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
804 This function loads the prototype file in the database
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
805 It returns a dictionary for prototypes for each route and nMatching
915
13434f5017dd work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 913
diff changeset
806 '''
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
807 prototypes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
808 nMatching={}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
809
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
810 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
811 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
812
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
813 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
814 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
815 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
816 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
817 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
818
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
819 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
820 route=(row[1],row[2])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
821 if route not in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
822 prototypes[route]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
823 prototypes[route].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
824 nMatching[row[0]]=row[3]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
825
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
826 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
827 return prototypes,nMatching
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
828
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
829 def writeLabelsToSqlite(labels, outputFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
830 """ labels is a dictionary with keys: routes, values: prototypes Ids
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
831 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
832 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
833 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
834
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
835 cursor.execute("CREATE TABLE IF NOT EXISTS labels (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
836
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
837 for route in labels:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
838 if labels[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
839 for i in labels[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
840 for j in labels[route][i]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
841 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
842
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
843 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
844 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
845
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
846 def loadLabelsFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
847 labels = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
848
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
849 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
850 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
851
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
852 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
853 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
854 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
855 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
856 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
857
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
858 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
859 route=(row[1],row[2])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
860 p=row[3]
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
861 if route not in labels:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
862 labels[route]={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
863 if p not in labels[route]:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
864 labels[route][p]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
865 labels[route][p].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
866
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
867 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
868 return labels
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
869
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
870 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
871 """ to match the format of second layer prototypes"""
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
872 connection = sqlite3.connect(outFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
873 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
874
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
875 cursor.execute("CREATE TABLE IF NOT EXISTS speedprototypes (spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
876
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
877 for route in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
878 if prototypes[route]!={}:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
879 for i in prototypes[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
880 if prototypes[route][i]!= []:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
881 for j in prototypes[route][i]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
882 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j]))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
883
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
884 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
885 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
886
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
887 def loadSpeedPrototypeFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
888 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
889 This function loads the prototypes table in the database of name <filename>.
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
890 """
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
891 prototypes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
892 nMatching={}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
893 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
894 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
895
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
896 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
897 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
898 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
899 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
900 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
901
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
902 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
903 route=(row[2],row[3])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
904 if route not in prototypes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
905 prototypes[route]={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
906 if row[1] not in prototypes[route]:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
907 prototypes[route][row[1]]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
908 prototypes[route][row[1]].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
909 nMatching[row[0]]=row[4]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
910
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
911 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
912 return prototypes,nMatching
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
913
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
914
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
915 def writeRoutesToSqlite(Routes, outputFilename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
916 """ This function writes the activity path define by start and end IDs"""
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
917 connection = sqlite3.connect(outputFilename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
918 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
919
777
ef6dd60be2e1 added function to save feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 773
diff changeset
920 cursor.execute("CREATE TABLE IF NOT EXISTS routes (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))")
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
921
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
922 for route in Routes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
923 if Routes[route]!=[]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
924 for i in Routes[route]:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
925 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1]))
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
926
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
927 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
928 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
929
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
930 def loadRoutesFromSqlite(filename):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
931 Routes = {}
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
932
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
933 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
934 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
935
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
936 try:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
937 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend')
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
938 except sqlite3.OperationalError as error:
773
bf4a1790cfac minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 768
diff changeset
939 printDBError(error)
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
940 return []
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
941
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
942 for row in cursor:
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
943 route=(row[1],row[2])
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
944 if route not in Routes:
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
945 Routes[route]=[]
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
946 Routes[route].append(row[0])
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
947
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
948 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
949 return Routes
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
950
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
951 def setRoutes(filename, objects):
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
952 connection = sqlite3.connect(filename)
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
953 cursor = connection.cursor()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
954 for obj in objects:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
955 cursor.execute('update objects set startRouteID = {} WHERE object_id = {}'.format(obj.startRouteID, obj.getNum()))
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
956 cursor.execute('update objects set endRouteID = {} WHERE object_id = {}'.format(obj.endRouteID, obj.getNum()))
736
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
957 connection.commit()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
958 connection.close()
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
959
967d244968a4 work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 722
diff changeset
960 #########################
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
961 # txt files
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
962 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
963
1131
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
964 def loadCSVs(filenames, **kwargs):
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
965 '''Loads all the data from the filenames (eg from glob) and returns a concatenated dataframe'''
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
966 data = read_csv(filenames[0], **kwargs)
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
967 for f in filenames[1:]:
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
968 data = data.append(read_csv(filenames[0], **kwargs))
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
969 return data
3972d85e3b6c work on loading data for sumo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1095
diff changeset
970
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
971 def saveList(filename, l):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
972 f = utils.openCheck(filename, 'w')
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
973 for x in l:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
974 f.write('{}\n'.format(x))
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
975 f.close()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
976
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
977 def loadListStrings(filename, commentCharacters = utils.commentChar):
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
978 f = utils.openCheck(filename, 'r')
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
979 result = utils.getLines(f, commentCharacters)
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
980 f.close()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
981 return result
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
982
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
983 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = utils.commentChar):
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
984 values = []
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
985 for l in loadListStrings(filename, commentCharacters):
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
986 if l.startswith(option):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
987 values.append(l.split(delimiterChar)[1].strip())
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
988 return values
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
989
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
990 def addSectionHeader(propertiesFile, headerName = 'main'):
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
991 '''Add fake section header
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
992
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
993 from http://stackoverflow.com/questions/2819696/parsing-properties-file-in-python/2819788#2819788
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
994 use read_file in Python 3.2+
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
995 '''
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
996 yield '[{}]\n'.format(headerName)
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
997 for line in propertiesFile:
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
998 yield line
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
999
892
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
1000 def loadPemsTraffic(filename):
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
1001 '''Loads traffic data downloaded from the http://pems.dot.ca.gov clearinghouse
f766fe0995f4 added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 882
diff changeset
1002 into pandas dataframe'''
1095
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1003 data=read_csv(filename, nrows = 3)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1004 headerNames = ['time', 'station', 'district', 'freeway', 'direction', 'lanetype', 'length', 'nsamples', 'pctobserved', 'totalflow', 'occupancy', 'speed'] # default for 5 min
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1005 nLanes = int((len(data.columns)-len(headerNames))/5)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1006 for i in range(1, nLanes+1):
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1007 headerNames += ['nsamples{}'.format(i), 'flow{}'.format(i), 'occupancy{}'.format(i), 'speed{}'.format(i), 'pctobserved{}'.format(i)]
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1008 return read_csv(filename, names = headerNames)
e53c6e87bb3f update pems loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1077
diff changeset
1009
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1010 def generatePDLaneColumn(data):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1011 data['LANE'] = data['LANE\\LINK\\NO'].astype(str)+'_'+data['LANE\\INDEX'].astype(str)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1012
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1013 def convertTrajectoriesVissimToSqlite(filename):
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1014 '''Relies on a system call to sqlite3
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1015 sqlite3 [file.sqlite] < import_fzp.sql'''
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1016 sqlScriptFilename = "import_fzp.sql"
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1017 # create sql file
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1018 out = utils.openCheck(sqlScriptFilename, "w")
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1019 out.write(".separator \";\"\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1020 "CREATE TABLE IF NOT EXISTS curvilinear_positions (t REAL, trajectory_id INTEGER, link_id INTEGER, lane_id INTEGER, s_coordinate REAL, y_coordinate REAL, speed REAL, PRIMARY KEY (t, trajectory_id));\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1021 ".import "+filename+" curvilinear_positions\n"+
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1022 "DELETE FROM curvilinear_positions WHERE trajectory_id IS NULL OR trajectory_id = \"NO\";\n")
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1023 out.close()
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1024 # system call
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
1025 from subprocess import run
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1026 out = utils.openCheck("err.log", "w")
1004
75601be6019f work on process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1003
diff changeset
1027 run("sqlite3 "+utils.removeExtension(filename)+".sqlite < "+sqlScriptFilename, stderr = out)
753
3d48e34db846 switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 752
diff changeset
1028 out.close()
3d48e34db846 switched to subprocess.check_call
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 752
diff changeset
1029 shutil.os.remove(sqlScriptFilename)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1030
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1031 def loadObjectNumbersInLinkFromVissimFile(filename, linkIds):
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1032 '''Finds the ids of the objects that go through any of the link in the list linkIds'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1033 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1034 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1035 queryStatement = 'SELECT DISTINCT trajectory_id FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+')'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1036 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1037 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1038 return [row[0] for row in cursor]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1039 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1040 printDBError(error)
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1041
759
a05b70f307dd added function to count vehicles per VISSIM link
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 756
diff changeset
1042 def getNObjectsInLinkFromVissimFile(filename, linkIds):
a05b70f307dd added function to count vehicles per VISSIM link
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 756
diff changeset
1043 '''Returns the number of objects that traveled through the link ids'''
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1044 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1045 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1046 queryStatement = 'SELECT link_id, COUNT(DISTINCT trajectory_id) FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+') GROUP BY link_id'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1047 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1048 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1049 return {row[0]:row[1] for row in cursor}
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1050 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1051 printDBError(error)
754
782e8fd3672c added function to find object ids going through some vissim links
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 753
diff changeset
1052
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1053 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, objectNumbers = None, warmUpLastInstant = None, usePandas = False, nDecimals = 2, lowMemory = True):
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1054 '''Reads data from VISSIM .fzp trajectory file
755
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1055 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM (second)
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1056 for example, there seems to be 10 simulation steps per simulated second in VISSIM,
f3aeb0b47eff comment improvement: vissim time is multiplied to get integers similar to frame numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 754
diff changeset
1057 so simulationStepsPerTimeUnit should be 10,
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
1058 so that all times correspond to the number of the simulation step (and can be stored as integers)
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1059
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1060 Objects positions will be considered only after warmUpLastInstant
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1061 (if the object has no such position, it won't be loaded)
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1062
752
14963a9c3b09 debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 751
diff changeset
1063 Assumed to be sorted over time
14963a9c3b09 debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 751
diff changeset
1064 Warning: if reading from SQLite a limited number of objects, objectNumbers will be the maximum object id'''
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1065 objects = {} # dictionary of objects index by their id
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
1066
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1067 if usePandas:
718
2cd245cb780d added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 714
diff changeset
1068 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, low_memory = lowMemory)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1069 generatePDLaneColumn(data)
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1070 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1071 if warmUpLastInstant is not None:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
1072 data = data[data['TIME']>=warmUpLastInstant]
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1073 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False)
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1074 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax})
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1075 for row_index, row in instants.iterrows():
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1076 objNum = int(row['NO'])
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1077 tmp = data[data['NO'] == objNum]
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1078 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last']), nObjects = 1)
642
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
1079 # positions should be rounded to nDecimals decimals only
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1080 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist())
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1081 if objectNumbers is not None and objectNumbers > 0 and len(objects) >= objectNumbers:
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1082 return list(objects.values())
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1083 else:
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1084 if filename.endswith(".fzp"):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1085 inputfile = utils.openCheck(filename, quitting = True)
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1086 line = utils.readline(inputfile, '*$')
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1087 while len(line) > 0:#for line in inputfile:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1088 data = line.strip().split(';')
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1089 objNum = int(data[1])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1090 instant = float(data[0])*simulationStepsPerTimeUnit
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1091 s = float(data[4])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1092 y = float(data[5])
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1093 lane = data[2]+'_'+data[3]
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1094 if objNum not in objects:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1095 if warmUpLastInstant is None or instant >= warmUpLastInstant:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1096 if objectNumbers is None or len(objects) < objectNumbers:
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1097 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant), nObjects = 1)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1098 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1099 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1100 objects[objNum].timeInterval.last = instant
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1101 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1102 line = utils.readline(inputfile, '*$')
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1103 elif filename.endswith(".sqlite"):
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1104 with sqlite3.connect(filename) as connection:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1105 cursor = connection.cursor()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1106 queryStatement = 'SELECT t, trajectory_id, link_id, lane_id, s_coordinate, y_coordinate FROM curvilinear_positions'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1107 if objectNumbers is not None:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1108 queryStatement += ' WHERE trajectory_id '+getObjectCriteria(objectNumbers)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1109 queryStatement += ' ORDER BY trajectory_id, t'
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1110 try:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1111 cursor.execute(queryStatement)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1112 for row in cursor:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1113 objNum = row[1]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1114 instant = row[0]*simulationStepsPerTimeUnit
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1115 s = row[4]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1116 y = row[5]
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1117 lane = '{}_{}'.format(row[2], row[3])
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1118 if objNum not in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1119 if warmUpLastInstant is None or instant >= warmUpLastInstant:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1120 if objectNumbers is None or len(objects) < objectNumbers:
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1121 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant), nObjects = 1)
938
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1122 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1123 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1124 objects[objNum].timeInterval.last = instant
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1125 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1126 except sqlite3.OperationalError as error:
fbf12382f3f8 replaced db connection using with
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 935
diff changeset
1127 printDBError(error)
750
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1128 else:
6049e9b6902c work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 744
diff changeset
1129 print("File type of "+filename+" not supported (only .sqlite and .fzp files)")
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1130 return list(objects.values())
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1131
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1132 def selectPDLanes(data, lanes = None):
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1133 '''Selects the subset of data for the right lanes
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1134
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1135 Lane format is a string 'x_y' where x is link index and y is lane index'''
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1136 if lanes is not None:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1137 if 'LANE' not in data.columns:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1138 generatePDLaneColumn(data)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1139 indices = (data['LANE'] == lanes[0])
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1140 for l in lanes[1:]:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1141 indices = indices | (data['LANE'] == l)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1142 return data[indices]
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1143 else:
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1144 return data
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1145
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1146 def countStoppedVehiclesVissim(filename, lanes = None, proportionStationaryTime = 0.7):
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1147 '''Counts the number of vehicles stopped for a long time in a VISSIM trajectory file
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1148 and the total number of vehicles
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1149
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1150 Vehicles are considered finally stationary
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1151 if more than proportionStationaryTime of their total time
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1152 If lanes is not None, only the data for the selected lanes will be provided
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1153 (format as string x_y where x is link index and y is lane index)'''
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1154 if filename.endswith(".fzp"):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1155 columns = ['NO', '$VEHICLE:SIMSEC', 'POS']
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1156 if lanes is not None:
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1157 columns += ['LANE\\LINK\\NO', 'LANE\\INDEX']
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1158 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns, low_memory = lowMemory)
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1159 data = selectPDLanes(data, lanes)
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1160 data.sort(['$VEHICLE:SIMSEC'], inplace = True)
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1161
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1162 nStationary = 0
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1163 nVehicles = 0
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1164 for name, group in data.groupby(['NO'], sort = False):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1165 nVehicles += 1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1166 positions = array(group['POS'])
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1167 diff = positions[1:]-positions[:-1]
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1168 if npsum(diff == 0.) >= proportionStationaryTime*(len(positions)-1):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1169 nStationary += 1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1170 elif filename.endswith(".sqlite"):
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1171 # select trajectory_id, t, s_coordinate, speed from curvilinear_positions where trajectory_id between 1860 and 1870 and speed < 0.1
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1172 # pb of the meaning of proportionStationaryTime in arterial network? Why proportion of existence time?
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1173 pass
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1174 else:
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1175 print("File type of "+filename+" not supported (only .sqlite and .fzp files)")
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1176
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1177 return nStationary, nVehicles
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
1178
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1179 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2, lowMemory = True):
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1180 '''Counts the number of collisions per lane in a VISSIM trajectory file
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1181
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1182 To distinguish between cars passing and collision,
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1183 one checks when the sign of the position difference inverts
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1184 (if the time are closer than collisionTimeDifference)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1185 If lanes is not None, only the data for the selected lanes will be provided
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1186 (format as string x_y where x is link index and y is lane index)'''
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1187 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS'], low_memory = lowMemory)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
1188 data = selectPDLanes(data, lanes)
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1189 data = data.convert_objects(convert_numeric=True)
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1190
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1191 merged = merge(data, data, how='inner', left_on=['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC'], right_on=['LANE\\LINK\\NO', 'LANE\\INDEX', '$VEHICLE:SIMSEC'], sort = False)
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1192 merged = merged[merged['NO_x']>merged['NO_y']]
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1193
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1194 nCollisions = 0
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1195 for name, group in merged.groupby(['LANE\\LINK\\NO', 'LANE\\INDEX', 'NO_x', 'NO_y']):
744
ed6ff2ec0aeb bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 740
diff changeset
1196 diff = group['POS_x']-group['POS_y']
704
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1197 # diff = group['POS_x']-group['POS_y'] # to check the impact of convert_objects and the possibility of using type conversion in read_csv or function to convert strings if any
f83d125d0c55 cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 702
diff changeset
1198 if len(diff) >= 2 and npmin(diff) < 0 and npmax(diff) > 0:
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1199 xidx = diff[diff < 0].argmax()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1200 yidx = diff[diff > 0].argmin()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1201 if abs(group.loc[xidx, '$VEHICLE:SIMSEC'] - group.loc[yidx, '$VEHICLE:SIMSEC']) <= collisionTimeDifference:
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1202 nCollisions += 1
756
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1203
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1204 # select TD1.link_id, TD1.lane_id from temp.diff_positions as TD1, temp.diff_positions as TD2 where TD1.link_id = TD2.link_id and TD1.lane_id = TD2.lane_id and TD1.id1 = TD2.id1 and TD1.id2 = TD2.id2 and TD1.t = TD2.t+0.1 and TD1.diff*TD2.diff < 0; # besoin de faire un group by??
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1205 # create temp table diff_positions as select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id;
a73f43aac00e moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 755
diff changeset
1206 # SQL select link_id, lane_id, id1, id2, min(diff), max(diff) from (select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id) group by link_id, lane_id, id1, id2 having min(diff)*max(diff) < 0
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
1207 return nCollisions
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
1208
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
1209 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1210 '''Reads data from the trajectory data provided by NGSIM project
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1211 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1212 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1213
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1214 inputfile = utils.openCheck(filename, quitting = True)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1215
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1216 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1217 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1218 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1219
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
1220 firstFrameNum = int(numbers[1])
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1221 lastFrameNum = firstFrameNum+int(numbers[2])-1
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1222 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1223 obj = moving.MovingObject(num = int(numbers[0]),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1224 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1225 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
1041
fc7c0f38e8a6 added nObjects to MovingObject, with loading/saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1040
diff changeset
1226 userType = int(numbers[10]), nObjects = 1)
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1227 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1228 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1229 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1230 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1231 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1232 obj.timeHeadways = [float(numbers[17])] # seconds
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
1233 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
1234 obj.speeds = [float(numbers[11])]
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1235 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1236 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1237
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1238 numbers = utils.readline(inputfile).strip().split()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1239 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1240 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1241
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1242 for line in inputfile:
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1243 numbers = line.strip().split()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
1244 if obj.getNum() != int(numbers[0]):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1245 # check and adapt the length to deal with issues in NGSIM data
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1246 if (obj.length() != obj.positions.length()):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1247 print('length pb with object {} ({},{})'.format(obj.getNum(),obj.length(),obj.positions.length()))
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1248 obj.last = obj.getFirstInstant()+obj.positions.length()-1
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1249 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1250 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1251 if (nObjects>0) and (len(objects)>=nObjects):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1252 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1253 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1254 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
1255 obj.laneNums.append(int(numbers[13]))
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1256 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 541
diff changeset
1257 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1])
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1258 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1259 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1260 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1261 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
1262 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1263
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
1264 if (obj.size[0] != float(numbers[8])):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1265 print('changed length obj {}'.format(obj.getNum()))
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1266 if (obj.size[1] != float(numbers[9])):
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1267 print('changed width obj {}'.format(obj.getNum()))
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1268
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1269 inputfile.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
1270 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1271
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1272 # from https://github.com/kuixu/kitti_object_vis
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1273 def inverse_rigid_trans(Tr):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1274 """ Inverse a rigid body transform matrix (3x4 as [R|t])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1275 [R'|-R't; 0|1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1276 """
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1277 inv_Tr = zeros_like(Tr) # 3x4
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1278 inv_Tr[0:3, 0:3] = transpose(Tr[0:3, 0:3])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1279 inv_Tr[0:3, 3] = dot(-transpose(Tr[0:3, 0:3]), Tr[0:3, 3])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1280 return inv_Tr
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1281
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1282 def compute3Dbox(anno_list):
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1283 #### LiDAR coordinate, rotate with y
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1284 '''.DS_Store
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1285 ^ z
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1286 |
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1287 |
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1288 |
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1289 . - - - - - - - > x
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1290 /
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1291 /
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1292 /
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1293 v y
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1294
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1295 '''
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1296 from pykitti.utils import rotz
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1297
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1298 R = rotz(anno_list['heading_3d'])
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1299 l = anno_list['l_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1300 w = anno_list['w_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1301 h = anno_list['h_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1302
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1303 x_3d = anno_list['x_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1304 y_3d = anno_list['y_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1305 z_3d = anno_list['z_3d']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1306
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1307 # # 3d bounding box corners x,y,z as center of the 3d bbox
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1308 # # 0 1 2 3 4 5 6 7
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1309 x_corners = [l/2, l/2, -l/2, -l/2, l/2, l/2, -l/2, -l/2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1310 y_corners = [w/2, -w/2, -w/2, w/2, w/2, -w/2, -w/2, w/2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1311 z_corners = [h/2, h/2, h/2, h/2, -h/2, -h/2, -h/2, -h/2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1312
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1313 # 3d bounding box corners x,y,z as center of the bottom surface of the 3d bbox,
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1314 # the difference occurs at z_corners, as it rotates with z_corners.
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1315 # x_corners = [l/2, l/2, -l/2, -l/2, l/2, l/2, -l/2, -l/2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1316 # y_corners = [w/2, -w/2, -w/2, w/2, w/2, -w/2, -w/2, w/2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1317 # z_corners = [h, h, h, h, 0, 0, 0, 0]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1318 corners_3d = dot(R, vstack([x_corners, y_corners, z_corners]))
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1319 # add the center
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1320 corners_3d[0, :] = corners_3d[0, :] + x_3d
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1321 corners_3d[1, :] = corners_3d[1, :] + y_3d
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1322 corners_3d[2, :] = corners_3d[2, :] + z_3d
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1323
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1324 return transpose(corners_3d)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1325
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1326 def loadKITTICalibration(filename):
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1327 '''Loads KITTI calibration data'''
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1328 calib = {}
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1329 with open(filename, 'r') as f:
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1330 for l in f:
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1331 l = l.rstrip()
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1332 if len(l) == 0:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1333 continue
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1334 key, value = l.split(' ', 1)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1335 if ":" in key:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1336 key = key[:-1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1337 try:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1338 calib[key] = array([float(x) for x in value.split()])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1339 except ValueError as e:
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1340 print(e)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1341 continue
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1342 #calib['Tr_velo_to_cam'] = calib['Tr_velo_cam']
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1343 #calib['Tr_imu_to_velo'] = calib['Tr_imu_velo']
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1344 calib['Tr_cam_velo'] = inverse_rigid_trans(reshape(calib['Tr_velo_cam'], (3, 4)))
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1345 calib['Tr_velo_imu'] = inverse_rigid_trans(reshape(calib['Tr_imu_velo'], (3, 4)))
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1346
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1347 P = reshape(calib['P2'], (3, 4))
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1348 calib['c_u'] = P[0, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1349 calib['c_v'] = P[1, 2]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1350 calib['f_u'] = P[0, 0]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1351 calib['f_v'] = P[1, 1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1352 calib['b_x'] = P[0, 3] / (-calib['f_u']) # relative
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1353 calib['b_y'] = P[1, 3] / (-calib['f_v'])
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1354 return calib
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1355
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1356 # from https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1357
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1358
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1359 def loadTrajectoriesFromKITTI(filename, kittiCalibration = None, oxts = None, resultFile = False):
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1360 '''Reads data from KITTI ground truth or output from an object detection and tracking method
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1361
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1362 kittiCalibration is obtained from loading training/testing calibration file for each sequence 00XX.txt
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1363 oxts is obtained using utils.load_oxts_packets_and_poses(['./training/oxts/0001.txt']) from pykitti
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1364
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1365 Ref: https://github.com/pratikac/kitti/blob/master/readme.tracking.txt'''
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1366 from pykitti.utils import roty
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1232
diff changeset
1367 from trafficintelligence.cvutils import cartesian2Homogeneous
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1368
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1369 if kittiCalibration is not None:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1370 invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3)))
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1371 transCam2Velo = transpose(kittiCalibration['Tr_cam_velo'])
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1372
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1373 header = ['frame', # 0, 1, ..., n
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1374 'trackingid', # -1, 0 , 1, ..., k
1207
36f0d18e1fad work in progress on loading kitti (issue with int)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1205
diff changeset
1375 'usertype', # 'Car', 'Pedestrian', ...
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1376 'truncation', # truncated pixel ratio [0..1]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1377 'occlusion', # 0=visible, 1=partly occluded, 2=fully occluded, 3=unknown
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1378 'alpha', # object observation angle [-pi..pi]
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1379 # extract 2d bounding box in 0-based coordinates
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1380 'xmin', # left
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1381 'ymin', # top
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1382 'xmax', # right
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1383 'ymax', # bottom
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1384 # extract 3d bounding box information
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1385 'h', # box height
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1386 'w', # box width
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1387 'l', # box length (in meters)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1388 'x', 'y', 'z', # location (x,y,z) in camera coord
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1389 'ry'] # yaw angle (around Y-axis in camera coordinates) [-pi..pi]
1216
8356e15fd691 fix for result files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1215
diff changeset
1390 if resultFile:
8356e15fd691 fix for result files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1215
diff changeset
1391 header.append('score')
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1392 data = read_csv(filename, delimiter = ' ', names = header)
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1393 data = data[data.trackingid > -1]
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1394
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1395 objects = []
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1202
diff changeset
1396 featureNum = 0
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1397 for objNum in data.trackingid.unique():
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1398 tmp = data[data.trackingid == objNum].sort_values('frame')
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1399 t = moving.Trajectory()#([[float(numbers[6])],[float(numbers[7])]])
1215
1b472cddf9b1 updated reading by interpolating missing frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
1400 interval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max()))
1b472cddf9b1 updated reading by interpolating missing frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
1401 userType = tmp.iloc[0].usertype
1b472cddf9b1 updated reading by interpolating missing frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
1402 if len(tmp) != interval.length(): #interpolate
1b472cddf9b1 updated reading by interpolating missing frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
1403 print(objNum, len(tmp), interval.length())
1b472cddf9b1 updated reading by interpolating missing frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1213
diff changeset
1404 instants = set(interval).difference(tmp.frame)
1251
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1405 missing = concat([tmp[header[10:]], DataFrame([[t]+[NaN]*(len(header)-10) for t in instants], columns = ['frame']+header[10:])], ignore_index=True).sort_values('frame')
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1406 tmp = missing.interpolate()
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1202
diff changeset
1407 featureTrajectories = [moving.Trajectory() for i in range(4)]
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1408 for i, r in tmp.iterrows():
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1409 if kittiCalibration is not None:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1410 _, Tr_imu_to_world = oxts[r.frame]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1411 # transfer_matrix = {'P2': reshape(kittiCalibration['P2'], (3, 4)),
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1412 # 'R_rect': kittiCalibration['R_rect'],
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1413 # 'Tr_cam_to_velo': kittiCalibration['Tr_cam_velo'],
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1414 # # transfer_matrix['Tr_velo_to_cam'] = kittiCalibration['Tr_velo_to_cam']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1415 # 'Tr_velo_to_imu': kittiCalibration['Tr_velo_imu'],
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1416 # # transfer_matrix['Tr_imu_to_velo'] = kittiCalibration['Tr_imu_to_velo']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1417 # 'Tr_imu_to_world': Tr_imu2w}
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1418 # 3D object
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1419 # compute rotational matrix around yaw axis
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1420 R = roty(r.ry)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1421
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1422 # 3d bounding box corners
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1423 x_corners = [r.l / 2, r.l / 2, -r.l / 2, -r.l / 2, r.l / 2, r.l / 2, -r.l / 2, -r.l / 2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1424 y_corners = [0, 0, 0, 0, -r.h, -r.h, -r.h, -r.h]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1425 z_corners = [r.w / 2, -r.w / 2, -r.w / 2, r.w / 2, r.w / 2, -r.w / 2, -r.w / 2, r.w / 2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1426 # rotate and translate 3d bounding box
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1427 corners3d = dot(R, vstack([x_corners, y_corners, z_corners]))
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1428 corners3d[0, :] = corners3d[0, :] + r.x#obj.t[0]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1429 corners3d[1, :] = corners3d[1, :] + r.y#obj.t[1]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1430 corners3d[2, :] = corners3d[2, :] + r.z#obj.t[2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1431 # corners3d = transpose(corners3d)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1432 # box3d_pts_3d_velo = calib.project_rect_to_velo(box3d_pts_3d)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1433 refCorners = transpose(dot(invR0, corners3d)) # 8x3 avoid double transpose np.transpose(pts_3d_rect))) in pts_3d_ref = self.project_rect_to_ref(pts_3d_rect)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1434 homRefCorners = cartesian2Homogeneous(refCorners)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1435 veloCorners = dot(homRefCorners, transCam2Velo)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1436 # self.project_ref_to_velo(pts_3d_ref)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1437 # boxes3d_world_single, flag_imu, flag_world = calib_function.project_velo_to_world(bboxes_3d_velo=boxes3d_velo_single, Tr_matrix=transfer_matrix)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1438 #Tr_velo_to_imu = transfer_matrix['Tr_velo_to_imu']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1439 #Tr_imu_to_world = transfer_matrix['Tr_imu_to_world']
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1440 homVeloCorners = cartesian2Homogeneous(veloCorners)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1441 imuCorners = dot(kittiCalibration['Tr_velo_imu'], homVeloCorners.T).T # 8x3
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1442
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1443 homImuCorners = cartesian2Homogeneous(imuCorners)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1444 worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1445 else: #LUMPI format
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1446 anno_list_temp = {}
1257
e59a0a475a0a removed bug with unnecessary data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1256
diff changeset
1447 #anno_list_temp['x_2d'] = r.xmin
e59a0a475a0a removed bug with unnecessary data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1256
diff changeset
1448 #anno_list_temp['y_2d'] = r.ymin
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1449 anno_list_temp['l_3d'] = r.l
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1450 anno_list_temp['w_3d'] = r.w
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1451 anno_list_temp['h_3d'] = r.h
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1452 anno_list_temp['x_3d'] = r.x
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1453 anno_list_temp['y_3d'] = r.y
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1454 anno_list_temp['z_3d'] = r.z
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1455 anno_list_temp['heading_3d'] = r.ry
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1456 worldCorners = compute3Dbox(anno_list_temp)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1457 # take first 4 lines of corners, x,y,_ # x0, y0, _ = boxes3d[0]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1458 xCoords = worldCorners[:4,0]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1459 yCoords = worldCorners[:4,1]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1460 t.addPositionXY(xCoords.mean(), yCoords.mean())
1256
56d0195d043e cleaning indicators (no more time interval) and runtimeerror with arccos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1255
diff changeset
1461 for j in range(4):
56d0195d043e cleaning indicators (no more time interval) and runtimeerror with arccos
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1255
diff changeset
1462 featureTrajectories[j].addPositionXY(xCoords[j], yCoords[j])
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1463 # check https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1464 if interval.length()>1:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1465 objects.append(moving.MovingObject(num = objNum, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = userType, features = [moving.MovingObject(num = featureNum+i, timeInterval = copy(interval), positions = featureTrajectories[i], velocities = featureTrajectories[i].differentiate(True)) for i in range(4)]))
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1466 featureNum += 4
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1467
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1468 # ego vehicle
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1469 if oxts is not None:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1470 t = moving.Trajectory()
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1471 featureTrajectories = [moving.Trajectory() for i in range(4)]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1472 interval = moving.TimeInterval(0, len(oxts)-1)#int(data.frame.min()), int(data.frame.max()))
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1473 R = roty(pi/2)
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1474 #for frame in interval:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1475 for _, Tr_imu_to_world in oxts:
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1476 l = 4.5 # m
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1477 w = 1.8 # m
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1478 h = 0.
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1479 # 3d bounding box corners
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1480 x_corners = [l / 2, l / 2, -l / 2, -l / 2, l / 2, l / 2, -l / 2, -l / 2]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1481 y_corners = [0, 0, 0, 0, -h, -h, -h, -h]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1482 z_corners = [w / 2, -w / 2, -w / 2, w / 2, w / 2, -w / 2, -w / 2, w / 2]
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1483 # rotate and translate 3d bounding box
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1484 corners3d = dot(R, vstack([x_corners, y_corners, z_corners]))
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1485 corners3d[0, :] = corners3d[0, :]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1486 corners3d[1, :] = corners3d[1, :]
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1487 corners3d[2, :] = corners3d[2, :]
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1488 refCorners = transpose(dot(invR0, corners3d)) # 8x3 avoid double transpose np.transpose(pts_3d_rect))) in pts_3d_ref = self.project_rect_to_ref(pts_3d_rect)
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1232
diff changeset
1489 homRefCorners = cartesian2Homogeneous(refCorners)
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1490 veloCorners = dot(homRefCorners, transCam2Velo)
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1232
diff changeset
1491 homVeloCorners = cartesian2Homogeneous(veloCorners)
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1202
diff changeset
1492 imuCorners = dot(kittiCalibration['Tr_velo_imu'], homVeloCorners.T).T # 8x3
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1493
1233
d5695e0b59d9 saving results from ultralytics works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1232
diff changeset
1494 homImuCorners = cartesian2Homogeneous(imuCorners)
1205
3905b393ade0 kitti loading code seems to be working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1204
diff changeset
1495 worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1496
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1497 # take first 4 lines of corners, x,y,_ # x0, y0, _ = boxes3d[0]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1498 xCoords = worldCorners[:4,0]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1499 yCoords = worldCorners[:4,1]
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1500 t.addPositionXY(xCoords.mean(), yCoords.mean())
1203
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1202
diff changeset
1501 for i in range(4):
7b3384a8e409 second version of code loading kitti data, to clean
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1202
diff changeset
1502 featureTrajectories[i].addPositionXY(xCoords[i], yCoords[i])
1255
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1503 # check https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga1019495a2c8d1743ed5cc23fa0daff8c
c0fe55a6b82f added support for LUMPI 3D data format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1254
diff changeset
1504 objects.append(moving.MovingObject(num = max([o.getNum() for o in objects])+1, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = 'Car', features = [moving.MovingObject(num = featureNum+i, timeInterval = copy(interval), positions = featureTrajectories[i], velocities = featureTrajectories[i].differentiate(True)) for i in range(4)]))
1212
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1207
diff changeset
1505
1202
059b7282aa09 first version of kitti loader
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1201
diff changeset
1506 return objects
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1507
1253
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1508 def loadTrajectoriesFromKITTI2D(filename, kittiCalibration = None, oxts = None):
1251
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1509 '''Loads x,y coordinate series
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1510 e.g. obtained by projecting from image to ground world plane using a homography
1253
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1511 Format: frame_id,track_id,usertype,x,y,score
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1512
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1513 if oxts is not None, it is obtained using utils.load_oxts_packets_and_poses(['./training/oxts/0001.txt']) from pykitti
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1514 to generate the movement of the ego vehicle'''
1251
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1515
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1516 header = ['frame','trackingid','usertype','x','y','score']
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1517 data = read_csv(filename, delimiter=' ', names = header)
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1518 objects = []
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1519 for objNum in data.trackingid.unique():
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1520 tmp = data[data.trackingid == objNum].sort_values('frame')
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1521 interval = moving.TimeInterval(int(tmp.frame.min()), int(tmp.frame.max()))
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1522 userType = tmp.iloc[0].usertype
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1523 if len(tmp) != interval.length(): #interpolate
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1524 print(objNum, len(tmp), interval.length())
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1525 instants = set(interval).difference(tmp.frame)
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1526 missing = concat([tmp[['frame', 'x', 'y']], DataFrame([[t, NaN, NaN] for t in instants], columns = ['frame', 'x', 'y'])], ignore_index=True).sort_values('frame')
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1527 tmp = missing.interpolate()
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1528 #print(tmp.info())
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1529 if interval.length()>1:
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1530 t = moving.Trajectory([tmp.x.to_list(), tmp.y.to_list()])
1253
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1531 objects.append(moving.MovingObject(num = objNum, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = userType))
1251
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1532
1253
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1533 # ego vehicle
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1534 if kittiCalibration is not None and oxts is not None:
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1535 invR0 = linalg.inv(reshape(kittiCalibration['R_rect'], (3, 3)))
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1536 transCam2Velo = transpose(kittiCalibration['Tr_cam_velo'])
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1537 t = moving.Trajectory()
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1538 featureTrajectories = [moving.Trajectory() for i in range(4)]
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1539 interval = moving.TimeInterval(0, len(oxts)-1)#int(data.frame.min()), int(data.frame.max()))
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1540 #from pykitti.utils import roty
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1541 from trafficintelligence.cvutils import cartesian2Homogeneous
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1542 for _, Tr_imu_to_world in oxts:
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1543 #R = roty(pi/2)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1544 #corners3d = dot(R, [0,0,0])
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1545 #print(corners3d)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1546 #refCorners = transpose(dot(invR0, corners3d))
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1547 #print(invR0, refCorners) # 000
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1548 #homRefCorners = cartesian2Homogeneous(array([refCorners]))
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1549 veloCorners = transCam2Velo[3, :] # dot(homRefCorners, transCam2Velo)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1550 #print(transCam2Velo, veloCorners) # last column of transCam2Velo
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1551 homVeloCorners = cartesian2Homogeneous(veloCorners)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1552 imuCorners = dot(kittiCalibration['Tr_velo_imu'], homVeloCorners.T).T # 8x3
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1553 #print(kittiCalibration['Tr_velo_imu'], imuCorners)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1554 homImuCorners = cartesian2Homogeneous(imuCorners)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1555 worldCorners = dot(Tr_imu_to_world, homImuCorners.T).T # 8x3
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1556 #print(Tr_imu_to_world, worldCorners)
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1557 xCoords = worldCorners[:4,0]
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1558 yCoords = worldCorners[:4,1]
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1559 t.addPositionXY(xCoords.mean(), yCoords.mean())
ef68d4ba7dae added loading ego vehicle in kitti 2D format and method to plot outline
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1251
diff changeset
1560 objects.append(moving.MovingObject(num = max([o.getNum() for o in objects])+1, timeInterval = interval, positions = t, velocities = t.differentiate(True), userType = 'Car'))
1251
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1561 return objects
2b1c8fe8f7e4 added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1250
diff changeset
1562
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1563 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1564 '''Reads data from the trajectory data provided by NGSIM project
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1565 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1566 if append:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1567 out = utils.openCheck(outputfile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1568 else:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1569 out = utils.openCheck(outputfile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1570 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1571
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
1572 features = loadNgsimFile(inputfile, sequenceNum)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1573 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1574 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1575 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1576
978
184f1dd307f9 corrected print and exception statements for Python 3
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 976
diff changeset
1577 print(nObjectsPerType)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1578
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1579 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
1580
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1581 def loadPinholeCameraModel(filename, tanalystFormat = True):
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1582 '''Loads the data from a file containing the camera parameters
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1583 (pinhole camera model, http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html)
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1584 and returns a dictionary'''
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1585 if tanalystFormat:
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1586 f = utils.openCheck(filename, quitting = True)
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1587 content = utils.getLines(f)
895
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1588 cameraData = {}
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1589 for l in content:
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1590 tmp = l.split(':')
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1591 cameraData[tmp[0]] = float(tmp[1].strip().replace(',','.'))
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1592 return cameraData
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1593 else:
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1594 print('Unknown camera model (not tanalyst format')
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1595 return None
739acd338cc0 added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 893
diff changeset
1596
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1597 def savePositionsToCsv(f, obj):
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1598 timeInterval = obj.getTimeInterval()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1599 positions = obj.getPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1600 curvilinearPositions = obj.getCurvilinearPositions()
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1601 for i in range(int(obj.length())):
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1602 p1 = positions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1603 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
1604 if curvilinearPositions is not None:
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1605 p2 = curvilinearPositions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1606 s += ',{},{}'.format(p2[0],p2[1])
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1607 f.write(s+'\n')
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1608
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1609 def saveTrajectoriesToCsv(filename, objects):
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1610 f = utils.openCheck(filename, 'w')
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1611 for i,obj in enumerate(objects):
829
0ddcc41663f5 renaming
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 813
diff changeset
1612 savePositionsToCsv(f, obj)
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1613 f.close()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
1614
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1615
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1616 #########################
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1617 # Utils to read .ini type text files for configuration, meta data...
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1618 #########################
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1619
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1620 class ClassifierParameters(VideoFilenameAddable):
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1621 'Class for the parameters of object classifiers'
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1622 def loadConfigFile(self, filename):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1623 from configparser import ConfigParser
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1624
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1625 config = ConfigParser()
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1626 config.read_file(addSectionHeader(utils.openCheck(filename)))
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1627
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1628 parentPath = Path(filename).parent
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1629 self.sectionHeader = config.sections()[0]
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1630
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1631 self.pedBikeCarSVMFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'pbv-svm-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1632 self.bikeCarSVMFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'bv-svm-filename'))
1241
ab4c72b9475c work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1239
diff changeset
1633 self.dlFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'dl-filename'))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1634 self.percentIncreaseCrop = config.getfloat(self.sectionHeader, 'percent-increase-crop')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1635 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop')
1189
ccab20f85710 changed to better parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1182
diff changeset
1636 x = config.getint(self.sectionHeader, 'hog-rescale-size')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1637 self.hogRescaleSize = (x, x)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1638 self.hogNOrientations = config.getint(self.sectionHeader, 'hog-norientations')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1639 x = config.getint(self.sectionHeader, 'hog-npixels-cell')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1640 self.hogNPixelsPerCell = (x, x)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1641 x = config.getint(self.sectionHeader, 'hog-ncells-block')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1642 self.hogNCellsPerBlock = (x, x)
893
ff92801e5c54 updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 892
diff changeset
1643 self.hogBlockNorm = config.get(self.sectionHeader, 'hog-block-norm')
1242
4cd8ace3552f major update for classification, allowing the use of neural network classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1241
diff changeset
1644 self.confidence = config.getfloat(self.sectionHeader, 'confidence')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1645
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1646 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1647 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends')
1022
b7689372c0ec renamed quantile to centile
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1021
diff changeset
1648 self.speedAggregationCentile = config.getint(self.sectionHeader, 'speed-aggregation-centile')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1649 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable')
899
1466a63dd1cf added a new classification parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 895
diff changeset
1650 self.maxPercentUnknown = config.getfloat(self.sectionHeader, 'max-prop-unknown-appearance')
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1651 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1652 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1653 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1654 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1655 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1656 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1657 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1658 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed')
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1659
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1660 def __init__(self, filename = None):
1058
16575ca4537d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1056
diff changeset
1661 self.configFilename = filename
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1662 if filename is not None and Path(filename).is_file():
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1663 self.loadConfigFile(filename)
813
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1664 else:
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1665 print('Configuration filename {} could not be loaded.'.format(filename))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1666
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1667 def convertToFrames(self, frameRate, speedRatio = 3.6):
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1668 '''Converts parameters with a relationship to time in 'native' frame time
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1669 speedRatio is the conversion from the speed unit in the config file
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1670 to the distance per second
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1671
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1672 ie param(config file) = speedRatio x fps x param(used in program)
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1673 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame'''
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1674 denominator = frameRate*speedRatio
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1675 #denominator2 = denominator**2
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1676 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1677 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1678 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1679 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1680 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1681 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1682 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1683 # special case for the lognormal distribution
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1684 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator)
854
33d296984dd8 rework and more info on speed probabilities for classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 852
diff changeset
1685 #self.scaleCyclistSpeed = self.scaleCyclistSpeed # no modification of scale
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1686
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1687
664
455f9b93819c added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 660
diff changeset
1688 class ProcessParameters(VideoFilenameAddable):
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1689 '''Class for all parameters controlling data processing: input,
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1690 method parameters, etc. for tracking and safety
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1691
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1692 Note: framerate is already taken into account'''
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1693
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1694 def loadConfigFile(self, filename):
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
1695 from configparser import ConfigParser
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1696
1053
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1697 config = ConfigParser({ 'acceleration-bound' : '3',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1698 'min-velocity-cosine' : '0.8',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1699 'ndisplacements' : '3',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1700 'max-nfeatures' : '1000',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1701 'feature-quality' : '0.0812219538558',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1702 'min-feature-distanceklt' : '3.54964337411',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1703 'block-size' : '7',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1704 'use-harris-detector' : '0',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1705 'k' : '0.04',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1706 'window-size' : '6',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1707 'pyramid-level' : '5',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1708 'min-tracking-error' : '0.183328975142',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1709 'max-number-iterations' : '20',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1710 'feature-flag' : '0',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1711 'min-feature-eig-threshold' : '1e-4',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1712 'min-feature-time' : '15',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1713 'min-feature-displacement' : '0.05',
60cc87e824c4 Modifying storage.py [configloaders fixing bugs]
Wendlasida
parents: 1052
diff changeset
1714 'tracker-reload-time' : '10'}, strict=False)
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1715 config.read_file(addSectionHeader(utils.openCheck(filename)))
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1716 parentPath = Path(filename).parent
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1717 self.sectionHeader = config.sections()[0]
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1718 # Tracking/display parameters
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1719 self.videoFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'video-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1720 self.databaseFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'database-filename'))
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1721 self.homographyFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'homography-filename'))
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1722 if Path(self.homographyFilename).is_file():
882
4749b71aa7fb corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
1723 self.homography = loadtxt(self.homographyFilename)
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1724 else:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1725 self.homography = None
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1726 self.intrinsicCameraFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'intrinsic-camera-filename'))
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1727 if Path(self.intrinsicCameraFilename).is_file():
882
4749b71aa7fb corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 880
diff changeset
1728 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename)
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1729 else:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1730 self.intrinsicCameraMatrix = None
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1731 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1732 self.distortionCoefficients = [float(x) for x in distortionCoefficients]
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1733 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication')
1249
2aa56b101041 added mask functionality for dltrack
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1246
diff changeset
1734 self.maskFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'mask-filename'))
2aa56b101041 added mask functionality for dltrack
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1246
diff changeset
1735
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1736 self.undistort = config.getboolean(self.sectionHeader, 'undistort')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1737 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1738 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
948
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1739
1021
16932cefabc1 work on paths in line with new configurations from tracker
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1004
diff changeset
1740 self.classifierFilename = utils.getRelativeFilename(parentPath, config.get(self.sectionHeader, 'classifier-filename'))
812
21f10332c72b moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 805
diff changeset
1741
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
1742 # Safety parameters
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1743 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
976
7f5cbdc107c5 corrected bug in converting time horizon to frames for internal computations (results for TTC, pPET and PET will be in frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
1744 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1745 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1746 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1747 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1748 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1749 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1750 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1751 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1752 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1753 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1754 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 938
diff changeset
1755 self.constantSpeedPrototypePrediction = config.getboolean(self.sectionHeader, 'constant-speed')
948
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1756 self.maxLcssDistance = config.getfloat(self.sectionHeader, 'max-lcss-distance')
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1757 self.lcssMetric = config.get(self.sectionHeader, 'lcss-metric')
584b9405e494 added safety analysis parameters for motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
1758 self.minLcssSimilarity = config.getfloat(self.sectionHeader, 'min-lcss-similarity')
1052
1748c02f9ac3 Modifying storage.py [configloaders]
Wendlasida
parents: 1041
diff changeset
1759
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1760 # Tracking parameters
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1761 self.accelerationBound = config.getint(self.sectionHeader, 'acceleration-bound')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1762 self.minVelocityCosine = config.getfloat(self.sectionHeader, 'min-velocity-cosine')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1763 self.ndisplacements = config.getint(self.sectionHeader, 'ndisplacements')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1764 self.maxNFeatures = config.getint(self.sectionHeader, 'max-nfeatures')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1765 self.minFeatureDistanceKLT = config.getfloat(self.sectionHeader, 'min-feature-distanceklt')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1766 self.featureQuality = config.getfloat(self.sectionHeader, 'feature-quality')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1767 self.blockSize = config.getint(self.sectionHeader, 'block-size')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1768 self.useHarrisDetector = config.getboolean(self.sectionHeader, 'use-harris-detector')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1769 self.k = config.getfloat(self.sectionHeader, 'k')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1770 self.winSize = config.getint(self.sectionHeader, 'window-size')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1771 self.pyramidLevel = config.getint(self.sectionHeader, 'pyramid-level')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1772 self.maxNumberTrackingIterations = config.getint(self.sectionHeader, 'max-number-iterations')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1773 self.minTrackingError = config.getfloat(self.sectionHeader, 'min-tracking-error')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1774 self.featureFlags = config.getboolean(self.sectionHeader, 'feature-flag')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1775 self.minFeatureEigThreshold = config.getfloat(self.sectionHeader, 'min-feature-eig-threshold')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1776 self.minFeatureTime = config.getint(self.sectionHeader, 'min-feature-time')
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1777 self.minFeatureDisplacement = config.getfloat(self.sectionHeader, 'min-feature-displacement')
1250
77fbd0e2ba7d dltrack works with moving average filtering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1249
diff changeset
1778 self.smoothingHalfWidth = config.getint(self.sectionHeader, 'smoothing-halfwidth')
1232
83ca1493d55c minor work / verif saving works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1216
diff changeset
1779 #self.updateTimer = config.getint(self.sectionHeader, 'tracker-reload-time')
1075
67144f26609e Updates crop
Wendlasida
parents: 1054
diff changeset
1780
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1781
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1782 def __init__(self, filename = None):
1058
16575ca4537d work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1056
diff changeset
1783 self.configFilename = filename
1065
d4d052a05337 added progress report functionality
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1058
diff changeset
1784 if filename is not None and Path(filename).is_file():
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1785 self.loadConfigFile(filename)
813
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1786 else:
ef8795dba5ed avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 812
diff changeset
1787 print('Configuration filename {} could not be loaded.'.format(filename))
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1788
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1789 def processVideoArguments(args):
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1790 '''Loads information from configuration file
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1791 then checks what was passed on the command line
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1792 for override (eg video filename and database filename'''
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1793 if args.configFilename is not None: # consider there is a configuration file
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1143
diff changeset
1794 parentPath = Path(args.configFilename).parent
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1795 params = ProcessParameters(args.configFilename)
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1796 videoFilename = params.videoFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1797 databaseFilename = params.databaseFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1798 if params.homography is not None:
1246
2397de73770d dltrack saves after projecting coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1245
diff changeset
1799 homography = params.homography
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1800 invHomography = linalg.inv(params.homography)
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1801 else:
1246
2397de73770d dltrack saves after projecting coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1245
diff changeset
1802 homography = None
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1803 invHomography = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1804 intrinsicCameraMatrix = params.intrinsicCameraMatrix
935
0e63a918a1ca updated classify-objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 927
diff changeset
1805 distortionCoefficients = array(params.distortionCoefficients)
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1806 undistortedImageMultiplication = params.undistortedImageMultiplication
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1807 undistort = params.undistort
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1808 firstFrameNum = params.firstFrameNum
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1809 else:
1177
aa88acf06876 rewrote object concatenation method, cleaner
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1143
diff changeset
1810 params = None
1246
2397de73770d dltrack saves after projecting coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1245
diff changeset
1811 homography = None
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1812 invHomography = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1813 undistort = False
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1814 intrinsicCameraMatrix = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1815 distortionCoefficients = []
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1816 undistortedImageMultiplication = None
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1817 undistort = False
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1818 firstFrameNum = 0
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1819
1245
371c718e57d7 interface updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1242
diff changeset
1820 # override video and database filenames if present on command line (path is relative to command line location)
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1821 if args.videoFilename is not None:
1026
73b124160911 more plumbing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1022
diff changeset
1822 videoFilename = args.videoFilename
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1823 else:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1824 videoFilename = params.videoFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1825 if args.databaseFilename is not None:
1026
73b124160911 more plumbing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1022
diff changeset
1826 databaseFilename = args.databaseFilename
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1827 else:
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1828 databaseFilename = params.databaseFilename
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1829
1246
2397de73770d dltrack saves after projecting coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1245
diff changeset
1830 return params, videoFilename, databaseFilename, homography, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum
901
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1831
753a081989e2 factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 899
diff changeset
1832 # deprecated
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 664
diff changeset
1833 class SceneParameters(object):
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1834 def __init__(self, config, sectionName):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1835 from configparser import NoOptionError
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1836 from ast import literal_eval
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1837 try:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1838 self.sitename = config.get(sectionName, 'sitename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1839 self.databaseFilename = config.get(sectionName, 'data-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1840 self.homographyFilename = config.get(sectionName, 'homography-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1841 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1842 self.videoFilename = config.get(sectionName, 'video-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1843 self.frameRate = config.getfloat(sectionName, 'framerate')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1844 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1845 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1846 self.rotation = config.getfloat(sectionName, 'rotation')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1847 self.duration = config.getint(sectionName, 'duration')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1848 except NoOptionError as e:
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1849 print(e)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1850 print('Not a section for scene meta-data')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1851
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1852 @staticmethod
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1853 def loadConfigFile(filename):
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 979
diff changeset
1854 from configparser import ConfigParser
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1855 config = ConfigParser()
1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1028
diff changeset
1856 config.readfp(utils.openCheck(filename))
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1857 configDict = dict()
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1858 for sectionName in config.sections():
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1859 configDict[sectionName] = SceneParameters(config, sectionName)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1860 return configDict
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
1861
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
1862
1201
28bf2420c412 work in progress to import KITTI data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1189
diff changeset
1863 if __name__ == '__main__':
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1864 import doctest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1865 import unittest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1866 suite = doctest.DocFileSuite('tests/storage.txt')
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1867 unittest.TextTestRunner().run(suite)
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
1868 # #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
diff changeset
1869 # #doctest.testfile("example.txt")