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annotate python/storage.py @ 690:463150a8e129 dev

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minor updates
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 29 Jun 2015 15:47:30 -0400
parents 94b291a5f933
children 5ee22bf7e4d5
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils, moving, events, indicators
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6 from base import VideoFilenameAddable
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7
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8 import sqlite3, logging
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9 from numpy import log
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11
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12 commentChar = '#'
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13
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14 delimiterChar = '%';
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16 ngsimUserTypes = {'twowheels':1,
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17 'car':2,
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18 'truck':3}
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20 #########################
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21 # Sqlite
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22 #########################
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23
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24 # utils
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25 def printDBError(error):
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26 print('DB Error: {}'.format(error))
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27
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28 def dropTables(connection, tableNames):
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29 'deletes the table with names in tableNames'
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30 try:
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31 cursor = connection.cursor()
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32 for tableName in tableNames:
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33 cursor.execute('DROP TABLE IF EXISTS '+tableName)
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34 except sqlite3.OperationalError as error:
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35 printDBError(error)
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36
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37 # TODO: add test if database connection is open
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38 # IO to sqlite
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39 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1):
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40 """
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41 This function writers trajectories to a specified sqlite file
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42 @param[in] objects -> a list of trajectories
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43 @param[in] trajectoryType -
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44 @param[out] outputFilename -> the .sqlite file containting the written objects
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45 @param[in] objectNumber : number of objects loaded
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46 """
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47 connection = sqlite3.connect(outputFilename)
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48 cursor = connection.cursor()
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50 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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51 cursor.execute(schema)
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52
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53 trajectory_id = 0
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54 frame_number = 0
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55 if trajectoryType == 'feature':
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56 if type(objectNumbers) == int and objectNumbers == -1:
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57 for trajectory in objects:
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58 trajectory_id += 1
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59 frame_number = 0
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60 for position in trajectory.getPositions():
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61 frame_number += 1
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62 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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63 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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64
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65 connection.commit()
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66 connection.close()
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68 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1):
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69 '''write features trajectories maintain trajectory ID,velocities dataset '''
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70 connection = sqlite3.connect(outputFilename)
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71 cursor = connection.cursor()
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72
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73 cursor.execute("CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))")
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74 cursor.execute("CREATE TABLE IF NOT EXISTS \"velocities\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))")
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75
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76 if trajectoryType == 'feature':
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77 if type(objectNumbers) == int and objectNumbers == -1:
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78 for trajectory in objects:
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79 trajectory_id = trajectory.num
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80 frame_number = trajectory.timeInterval.first
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81 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()):
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82 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y))
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83 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y))
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84 frame_number += 1
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85
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86 connection.commit()
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87 connection.close()
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89 def writePrototypesToSqlite(prototypes,nMatching, outputFilename):
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90 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """
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91 connection = sqlite3.connect(outputFilename)
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92 cursor = connection.cursor()
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93
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94 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))")
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95
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96 for route in prototypes.keys():
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97 if prototypes[route]!=[]:
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98 for i in prototypes[route]:
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99 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i]))
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100
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101 connection.commit()
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102 connection.close()
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104 def loadPrototypesFromSqlite(filename):
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105 """
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106 This function loads the prototype file in the database
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107 It returns a dictionary for prototypes for each route and nMatching
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108 """
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109 prototypes = {}
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110 nMatching={}
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111
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112 connection = sqlite3.connect(filename)
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113 cursor = connection.cursor()
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114
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115 try:
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116 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching')
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117 except sqlite3.OperationalError as error:
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118 utils.printDBError(error)
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119 return []
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120
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121 for row in cursor:
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122 route=(row[1],row[2])
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123 if route not in prototypes.keys():
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124 prototypes[route]=[]
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125 prototypes[route].append(row[0])
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126 nMatching[row[0]]=row[3]
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127
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128 connection.close()
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129 return prototypes,nMatching
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130
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131 def writeLabelsToSqlite(labels, outputFilename):
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132 """ labels is a dictionary with keys: routes, values: prototypes Ids
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133 """
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134 connection = sqlite3.connect(outputFilename)
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135 cursor = connection.cursor()
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136
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137 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))")
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138
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139 for route in labels.keys():
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140 if labels[route]!=[]:
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141 for i in labels[route]:
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142 for j in labels[route][i]:
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143 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i))
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144
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145 connection.commit()
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146 connection.close()
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147
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148 def loadLabelsFromSqlite(filename):
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149 labels = {}
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150
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151 connection = sqlite3.connect(filename)
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152 cursor = connection.cursor()
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153
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154 try:
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155 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id')
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156 except sqlite3.OperationalError as error:
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157 utils.printDBError(error)
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158 return []
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159
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160 for row in cursor:
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161 route=(row[1],row[2])
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162 p=row[3]
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163 if route not in labels.keys():
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164 labels[route]={}
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165 if p not in labels[route].keys():
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166 labels[route][p]=[]
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167 labels[route][p].append(row[0])
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168
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169 connection.close()
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170 return labels
607
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171 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename):
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172 """ to match the format of second layer prototypes"""
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173 connection = sqlite3.connect(outFilename)
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174 cursor = connection.cursor()
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175
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176 cursor.execute("CREATE TABLE IF NOT EXISTS \"speedprototypes\"(spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))")
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177
607
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178 for route in prototypes.keys():
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179 if prototypes[route]!={}:
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180 for i in prototypes[route]:
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181 if prototypes[route][i]!= []:
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182 for j in prototypes[route][i]:
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183 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j]))
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184
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185 connection.commit()
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186 connection.close()
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187
607
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188 def loadSpeedPrototypeFromSqlite(filename):
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189 """
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190 This function loads the prototypes table in the database of name <filename>.
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191 """
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192 prototypes = {}
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193 nMatching={}
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194 connection = sqlite3.connect(filename)
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195 cursor = connection.cursor()
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196
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197 try:
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198 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching')
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199 except sqlite3.OperationalError as error:
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200 utils.printDBError(error)
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201 return []
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202
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203 for row in cursor:
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204 route=(row[2],row[3])
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205 if route not in prototypes.keys():
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206 prototypes[route]={}
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207 if row[1] not in prototypes[route].keys():
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208 prototypes[route][row[1]]=[]
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209 prototypes[route][row[1]].append(row[0])
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210 nMatching[row[0]]=row[4]
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211
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212 connection.close()
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213 return prototypes,nMatching
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214
546
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215
564
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216 def writeRoutesToSqlite(Routes, outputFilename):
546
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217 """ This function writes the activity path define by start and end IDs"""
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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218 connection = sqlite3.connect(outputFilename)
546
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219 cursor = connection.cursor()
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220
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221 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))")
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222
546
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223 for route in Routes.keys():
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224 if Routes[route]!=[]:
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225 for i in Routes[route]:
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226 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1]))
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227
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228 connection.commit()
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229 connection.close()
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230
546
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231 def loadRoutesFromSqlite(filename):
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232 Routes = {}
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233
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234 connection = sqlite3.connect(filename)
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235 cursor = connection.cursor()
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236
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237 try:
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238 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend')
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239 except sqlite3.OperationalError as error:
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240 utils.printDBError(error)
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241 return []
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242
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243 for row in cursor:
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244 route=(row[1],row[2])
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245 if route not in Routes.keys():
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246 Routes[route]=[]
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247 Routes[route].append(row[0])
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248
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249 connection.close()
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250 return Routes
546
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251
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252 def setRoutes(filename, objects):
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253 connection = sqlite3.connect(filename)
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254 cursor = connection.cursor()
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255 for obj in objects:
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256 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum()))
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dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
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257 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum()))
546
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258 connection.commit()
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259 connection.close()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
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260
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diff changeset
261 def setRoadUserTypes(filename, objects):
330
00800ebae698 corrected bug in db loading
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262 '''Saves the user types of the objects in the sqlite database stored in filename
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263 The objects should exist in the objects table'''
329
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diff changeset
264 connection = sqlite3.connect(filename)
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diff changeset
265 cursor = connection.cursor()
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266 for obj in objects:
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267 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum()))
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diff changeset
268 connection.commit()
208
d9855499fc88 Added functions to write trajectories through sqlite
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parents: 204
diff changeset
269 connection.close()
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parents: 204
diff changeset
270
209
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271 def loadPrototypeMatchIndexesFromSqlite(filename):
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272 """
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273 This function loads the prototypes table in the database of name <filename>.
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274 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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275 """
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276 matched_indexes = []
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277
211
ada6e8fbe4c6 2 Changes :
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parents: 209
diff changeset
278 connection = sqlite3.connect(filename)
209
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diff changeset
279 cursor = connection.cursor()
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diff changeset
280
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diff changeset
281 try:
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diff changeset
282 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
342
4d69486869a5 work on loading indicators
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parents: 341
diff changeset
283 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
284 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
285 return []
209
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parents: 208
diff changeset
286
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parents: 208
diff changeset
287 for row in cursor:
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diff changeset
288 matched_indexes.append((row[0],row[1]))
211
ada6e8fbe4c6 2 Changes :
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parents: 209
diff changeset
289
ada6e8fbe4c6 2 Changes :
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parents: 209
diff changeset
290 connection.close()
209
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diff changeset
291 return matched_indexes
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parents: 208
diff changeset
292
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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parents: 259
diff changeset
293 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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diff changeset
294 if trajectoryType == 'feature':
330
00800ebae698 corrected bug in db loading
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parents: 329
diff changeset
295 statementBeginning = 'where trajectory_id '
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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parents: 259
diff changeset
296 elif trajectoryType == 'object':
587
cf578ba866da added code to load bounding box corners as trajectories
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parents: 586
diff changeset
297 statementBeginning = 'and OF.object_id '
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parents: 586
diff changeset
298 elif trajectoryType == 'bbtop' or 'bbbottom':
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parents: 586
diff changeset
299 statementBeginning = 'where object_id '
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
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parents: 259
diff changeset
300 else:
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parents: 259
diff changeset
301 print('no trajectory type was chosen')
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
302
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
303 if objectNumbers is None:
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
304 query = ''
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
305 elif type(objectNumbers) == int:
690
463150a8e129 minor updates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 685
diff changeset
306 query = statementBeginning+'between 0 and {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
307 elif type(objectNumbers) == list:
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
308 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') '
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
309 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
310
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
311 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None):
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
312 '''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
313 can be positions or velocities
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
314
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
315 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
316 cursor = connection.cursor()
204
966c2cd2bd9f added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 203
diff changeset
317
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
318 try:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
319 idQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
320 if trajectoryType == 'feature':
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
321 queryStatement = 'SELECT * from '+tableName+' '+idQuery+'ORDER BY trajectory_id, frame_number'
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
322 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
323 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
324 elif trajectoryType == 'object':
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
325 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 '+idQuery+'group by OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number'
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
326 cursor.execute(queryStatement)
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
327 logging.debug(queryStatement)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
328 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
329 if trajectoryType == 'bbtop':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
330 corner = 'top_left'
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
331 elif trajectoryType == 'bbbottom':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
332 corner = 'bottom_right'
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
333 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName+' '+idQuery+'ORDER BY object_id, frame_number'
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
334 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
335 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
336 else:
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
337 print('no trajectory type was chosen')
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
338 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
339 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
340 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
341
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
342 objId = -1
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
343 obj = None
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
344 objects = []
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
345 for row in cursor:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
346 if row[0] != objId:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
347 objId = row[0]
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
348 if obj is not None and 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
349 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
350 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
351 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
352 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
353 else:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
354 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
355 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
356
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
357 if obj is not None and 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
358 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
359 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
360 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
361
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
362 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
363
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
364 def loadUserTypesFromTable(cursor, trajectoryType, objectNumbers):
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
365 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
366 if objectIdQuery == '':
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
367 cursor.execute('SELECT object_id, road_user_type from objects')
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
368 else:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
369 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
370 userTypes = {}
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
371 for row in cursor:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
372 userTypes[row[0]] = row[1]
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
373 return userTypes
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
374
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
375 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False):
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
376 '''Loads the first objectNumbers objects or the indices in objectNumbers from the database'''
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
377 connection = sqlite3.connect(filename)
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
378
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
379 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
380 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
381
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
382 if len(objectVelocities) > 0:
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
383 for o,v in zip(objects, objectVelocities):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
384 if o.getNum() == v.getNum():
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
385 o.velocities = v.positions
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
386 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
387 else:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
388 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum()))
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
389
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
390 if trajectoryType == 'object':
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
391 cursor = connection.cursor()
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
392 try:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
393 # attribute feature numbers to objects
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
394 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
395 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
396 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
397 logging.debug(queryStatement)
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
398
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
399 featureNumbers = {}
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
400 for row in cursor:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
401 objId = row[1]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
402 if objId not in featureNumbers:
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
403 featureNumbers[objId] = [row[0]]
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
404 else:
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
405 featureNumbers[objId].append(row[0])
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
406
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
407 for obj in objects:
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
408 obj.featureNumbers = featureNumbers[obj.getNum()]
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
409
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
410 # load userType
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
411 userTypes = loadUserTypesFromTable(cursor, trajectoryType, objectNumbers)
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
412 for obj in objects:
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
413 obj.userType = userTypes[obj.getNum()]
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
414
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
415 if withFeatures:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
416 nFeatures = 0
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
417 for obj in objects:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
418 nFeatures = max(nFeatures, max(obj.featureNumbers))
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
419 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures)
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
420 for obj in objects:
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
421 obj.setFeatures(features)
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
422
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
423 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
424 printDBError(error)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
425 objects = []
263
c71540470057 reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
426
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
427 connection.close()
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
428 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
429
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
430 def loadGroundTruthFromSqlite(filename, gtType = 'bb', gtNumbers = None):
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
431 'Loads bounding box annotations (ground truth) from an SQLite '
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
432 connection = sqlite3.connect(filename)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
433 gt = []
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
434
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
435 if gtType == 'bb':
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
436 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', gtNumbers)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
437 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', gtNumbers)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
438 userTypes = loadUserTypesFromTable(connection.cursor(), 'object', gtNumbers) # string format is same as object
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
439
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
440 for t, b in zip(topCorners, bottomCorners):
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
441 num = t.getNum()
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
442 if t.getNum() == b.getNum():
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
443 annotation = moving.BBAnnotation(num, t.getTimeInterval(), t, b, userTypes[num])
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
444 gt.append(annotation)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
445 else:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
446 print ('Unknown type of annotation {}'.format(gtType))
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
447
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
448 connection.close()
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
449 return gt
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
450
584
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
451 def deleteFromSqlite(filename, dataType):
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
452 'Deletes (drops) some tables in the filename depending on type of data'
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
453 import os
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
454 if os.path.isfile(filename):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
455 connection = sqlite3.connect(filename)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
456 if dataType == 'object':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
457 dropTables(connection, ['objects', 'objects_features'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
458 elif dataType == 'interaction':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
459 dropTables(connection, ['interactions', 'indicators'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
460 elif dataType == 'bb':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
461 dropTables(connection, ['bounding_boxes'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
462 else:
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
463 print('Unknown data type {} to delete from database'.format(dataType))
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
464 connection.close()
344
14a2405f54f8 slight modification to safety analysis and generalized script to delete computed data (objects and interactions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 343
diff changeset
465 else:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
466 print('{} does not exist'.format(filename))
235
584613399513 added script and functions to remove object tables
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 218
diff changeset
467
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
468 def createInteractionTable(cursor):
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
469 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))')
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
470
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
471 def createIndicatorTables(cursor):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
472 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))')
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
473 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))')
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
474 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))')
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
475
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
476 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
477 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
478 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
479
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
480 def saveInteractions(filename, interactions):
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
481 'Saves the interactions in the table'
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
482 connection = sqlite3.connect(filename)
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
483 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
484 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
485 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
486 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
487 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
488 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
489 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
490 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
491 connection.close()
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
492
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
493 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
494 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
495 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
496 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
497
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
498 def saveIndicators(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
499 'Saves the indicator values in the table'
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
500 connection = sqlite3.connect(filename)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
501 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
502 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
503 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
504 createIndicatorTables(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
505 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
506 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
507 for indicatorName in indicatorNames:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
508 indicator = inter.getIndicator(indicatorName)
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
509 if indicator is not None:
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
510 saveIndicator(cursor, inter.getNum(), indicator)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
511 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
512 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
513 connection.commit()
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
514 connection.close()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
515
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
516 def loadInteractions(filename):
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
517 '''Loads interaction and their indicators
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
518
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
519 TODO choose the interactions to load'''
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
520 interactions = []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
521 connection = sqlite3.connect(filename)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
522 cursor = connection.cursor()
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
523 try:
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
524 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND where INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type')
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
525 interactionNum = -1
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
526 indicatorTypeNum = -1
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
527 tmpIndicators = {}
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
528 for row in cursor:
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
529 if row[0] != interactionNum:
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
530 interactionNum = row[0]
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
531 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2]))
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
532 interactions[-1].indicators = {}
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
533 if indicatorTypeNum != row[5]:
628
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
534 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
535 indicatorValues = {row[6]:row[7]}
977407c9f815 corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 619
diff changeset
536 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
537 indicatorTypeNum = row[5]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
538 else:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
539 indicatorValues[row[6]] = row[7]
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
540 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
541 printDBError(error)
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
542 return []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
543 connection.close()
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
544 return interactions
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
545 # load first and last object instants
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
546 # 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
547
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
548 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
549 '''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
550 '''
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
551 connection = sqlite3.connect(filename)
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
552 cursor = connection.cursor()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
553 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
554 cursor.execute('CREATE TABLE IF NOT EXISTS bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))')
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
555 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from '
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
556 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from '
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
557 '(SELECT OF.object_id, P.frame_number, P.x_coordinate as x, P.y_coordinate as y, P.x_coordinate*{}+P.y_coordinate*{}+{} as w from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id)) '.format(invHomography[0,0], invHomography[0,1], invHomography[0,2], invHomography[1,0], invHomography[1,1], invHomography[1,2], invHomography[2,0], invHomography[2,1], invHomography[2,2])+
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
558 'GROUP BY object_id, frame_number')
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
559 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
560 printDBError(error)
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
561 connection.commit()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
562 connection.close()
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
563
586
ff4f0ce46ca6 modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 585
diff changeset
564 def loadBoundingBoxTableForDisplay(filename):
647
458890c0437c cleaned functions to lead bounding boxes (for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 646
diff changeset
565 '''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
566 connection = sqlite3.connect(filename)
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
567 cursor = connection.cursor()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
568 boundingBoxes = {} # list of bounding boxes for each instant
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
569 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
570 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'')
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
571 result = [row for row in cursor]
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
572 if len(result) > 0:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
573 cursor.execute('SELECT * FROM bounding_boxes')
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
574 for row in cursor:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
575 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])])
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
576 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
577 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
578 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
579 connection.close()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
580 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
581
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
582 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
583 # 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
584 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
585
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
586 def openCheck(filename, option = 'r', quitting = False):
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
587 '''Open file filename in read mode by default
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
588 and checks it is open'''
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
589 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
590 return open(filename, 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
591 except IOError:
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
592 print 'File %s could not be opened.' % filename
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
593 if quitting:
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
594 from sys import exit
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
595 exit()
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
596 return 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
597
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
598 def readline(f, commentCharacters = commentChar):
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
599 '''Modified readline function to skip comments
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
600 Can take a list of characters or a string (in will work in both)'''
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
601 s = f.readline()
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
602 while (len(s) > 0) and s[0] in 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
603 s = f.readline()
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
604 return s.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
605
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
606 def getLines(f, commentCharacters = 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
607 '''Gets a complete entry (all the lines) in between delimiterChar.'''
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
608 dataStrings = []
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
609 s = readline(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
610 while len(s) > 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
611 dataStrings += [s.strip()]
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
612 s = readline(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
613 return dataStrings
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
614
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
615 def writeList(filename, l):
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
616 f = 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
617 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
618 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
619 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
620
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
621 def loadListStrings(filename, commentCharacters = commentChar):
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
622 f = openCheck(filename, 'r')
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
623 result = 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
624 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
625 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
626
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
627 def getValuesFromINIFile(filename, option, delimiterChar = '=', commentCharacters = 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
628 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
629 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
630 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
631 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
632 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
633
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
634 class FakeSecHead(object):
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
635 '''Add fake section header [asection]
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
636
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
637 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
638 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
639 '''
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
640 def __init__(self, fp):
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
641 self.fp = fp
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
642 self.sechead = '[main]\n'
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
643
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
644 def readline(self):
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
645 if self.sechead:
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
646 try: return self.sechead
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
647 finally: self.sechead = 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
648 else: return self.fp.readline()
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
649
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
650 def generatePDLaneColumn(data):
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
651 data['LANE'] = data['LANE\LINK\NO'].astype(str)+'_'+data['LANE\INDEX'].astype(str)
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
652
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
653 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None, usePandas = False, nDecimals = 2):
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
654 '''Reads data from VISSIM .fzp trajectory file
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
655 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
656 for example, there seems to be 5 simulation steps per simulated second in VISSIM,
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
657 so simulationStepsPerTimeUnit should be 5,
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
658 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
659
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
660 Objects positions will be considered only after warmUpLastInstant
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
661 (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
662
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
663 Assumed to be sorted over time'''
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
664 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
665
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
666 if usePandas:
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
667 from pandas import read_csv
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
668 from numpy import min, max, round
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
669 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1)
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
670 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
671 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
672 if warmUpLastInstant is not None:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
673 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
674 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False)
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
675 instants = grouped['TIME'].agg({'first': min, 'last': max})
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
676 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
677 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
678 tmp = data[data['NO'] == objNum]
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
679 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last']))
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
680 # positions should be rounded to nDecimals decimals only
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
681 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = round(tmp['POS'].tolist(), nDecimals), Y = round(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist())
932f96c89212 added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 636
diff changeset
682 return objects.values()
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
683 else:
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
684 inputfile = openCheck(filename, quitting = True)
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
685 # data = pd.read_csv(filename, skiprows=15, delimiter=';')
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
686 # skip header: 15 lines + 1
564
36605d843be5 modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
687 line = readline(inputfile, '*$')
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
688 while len(line) > 0:#for line in inputfile:
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
689 data = line.strip().split(';')
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
690 objNum = int(data[1])
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
691 instant = int(float(data[0])*simulationStepsPerTimeUnit)
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
692 s = float(data[4])
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
693 y = float(data[5])
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
694 lane = data[2]+'_'+data[3]
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
695 if objNum not in objects:
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
696 if warmUpLastInstant is None or instant >= warmUpLastInstant:
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
697 if nObjects < 0 or len(objects) < nObjects:
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
698 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant))
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
699 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
660
994dd644f6ab corrected impact of warmUpLastInstant
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 649
diff changeset
700 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects:
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
701 objects[objNum].timeInterval.last = instant
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
702 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
703 line = readline(inputfile, '*$')
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
704
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
705 return objects.values()
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
706
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
707 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
708 '''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
709
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
710 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
711 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
712 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
713 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
714 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
715 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
716 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
717 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
718 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
719 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
720
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
721 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
722 '''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
723 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
724
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
725 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
726 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
727 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
728 (format as string x_y where x is link index and y is lane index)'''
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
729 from pandas import read_csv
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
730 from numpy import array, sum as npsum
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
731 columns = ['NO', '$VEHICLE:SIMSEC', 'POS']
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
732 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
733 columns += ['LANE\LINK\NO', 'LANE\INDEX']
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
734 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns)
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
735 data = selectPDLanes(data, lanes)
646
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
736 data.sort(['$VEHICLE:SIMSEC'], inplace = True)
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
737
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
738 nStationary = 0
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
739 from matplotlib.pyplot import plot, figure
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
740 nVehicles = 0
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
741 for name, group in data.groupby(['NO'], sort = False):
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
742 nVehicles += 1
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
743 positions = array(group['POS'])
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
744 diff = positions[1:]-positions[:-1]
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
745 if npsum(diff == 0.) >= proportionStationaryTime*len(positions):
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
746 nStationary += 1
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
747
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
748 return nStationary, nVehicles
6680a69d5bf3 added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 645
diff changeset
749
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
750 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2):
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
751 '''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
752
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
753 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
754 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
755 (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
756 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
757 (format as string x_y where x is link index and y is lane index)'''
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
758 from pandas import read_csv, merge
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
759 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS'])
649
df9ddeaee4a6 added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 647
diff changeset
760 data = selectPDLanes(data, lanes)
645
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
761 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)
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
762 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
763
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
764 nCollisions = 0
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
765 for name, group in merged.groupby(['LANE\LINK\NO', 'LANE\INDEX', 'NO_x', 'NO_y']):
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
766 diff = group['POS_x']-group['POS_y']
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
767 if len(diff) >= 2 and min(diff) < 0 and max(diff) > 0:
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
768 xidx = diff[diff < 0].argmax()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
769 yidx = diff[diff > 0].argmin()
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
770 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
771 nCollisions += 1
5ed2118c959d added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 643
diff changeset
772 return nCollisions
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
773
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
774 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
775 '''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
776 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
777 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
778
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
779 inputfile = openCheck(filename, quitting = True)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
780
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
781 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
782 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
783 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
784
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
785 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
786 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
787 #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
788 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
789 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
790 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
791 userType = int(numbers[10]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
792 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
793 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
794 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
795 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
796 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
797 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
798 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
799 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
800 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
801 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
802
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
803 numbers = readline(inputfile).strip().split()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
804 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
805 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
806
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
807 for line in inputfile:
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
808 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
809 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
810 # 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
811 if (obj.length() != obj.positions.length()):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
812 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length())
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
813 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
814 #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
815 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
816 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
817 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
818 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
819 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
820 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
821 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
822 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
823 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
824 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
825 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
826 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
827 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
828
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
829 if (obj.size[0] != float(numbers[8])):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
830 print 'changed length obj %d' % (obj.getNum())
72
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 50
diff changeset
831 if (obj.size[1] != float(numbers[9])):
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
832 print 'changed width obj %d' % (obj.getNum())
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
833
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
834 inputfile.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
835 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
836
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
837 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
838 '''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
839 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
840 if append:
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
841 out = openCheck(outputfile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
842 else:
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
843 out = openCheck(outputfile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
844 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
845
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
846 features = loadNgsimFile(inputfile, sequenceNum)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
847 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
848 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
849 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
850
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
851 print nObjectsPerType
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
852
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
853 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
854
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
855 def writePositionsToCsv(f, obj):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
856 timeInterval = obj.getTimeInterval()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
857 positions = obj.getPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
858 curvilinearPositions = obj.getCurvilinearPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
859 for i in xrange(int(obj.length())):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
860 p1 = positions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
861 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
862 if curvilinearPositions is not None:
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
863 p2 = curvilinearPositions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
864 s += ',{},{}'.format(p2[0],p2[1])
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
865 f.write(s+'\n')
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
866
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
867 def writeTrajectoriesToCsv(filename, objects):
514
1ba618fb0f70 corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
868 f = openCheck(filename, 'w')
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
869 for i,obj in enumerate(objects):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
870 writePositionsToCsv(f, obj)
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
871 f.close()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
872
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
873
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
874 #########################
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
875 # 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
876 #########################
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
877
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
878 class ProcessParameters(VideoFilenameAddable):
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
879 '''Class for all parameters controlling data processing: input,
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
880 method parameters, etc. for tracking, classification and safety
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
881
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
882 Note: framerate is already taken into account'''
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
883
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
884 def loadConfigFile(self, 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
885 from ConfigParser import ConfigParser
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
886 from numpy import loadtxt
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
887 from os import path
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
888
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
889 config = ConfigParser()
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
890 config.readfp(FakeSecHead(openCheck(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
891 self.sectionHeader = config.sections()[0]
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
892 # Tracking/display 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
893 self.videoFilename = config.get(self.sectionHeader, '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
894 self.databaseFilename = config.get(self.sectionHeader, 'database-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
895 self.homographyFilename = config.get(self.sectionHeader, '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
896 if (path.exists(self.homographyFilename)):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
897 self.homography = loadtxt(self.homographyFilename)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
898 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
899 self.homography = 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
900 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-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
901 if (path.exists(self.intrinsicCameraFilename)):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
902 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
903 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
904 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
905 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
906 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
907 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication')
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
908 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
909 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
910 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 344
diff changeset
911
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
912 # Classification parameters
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
913 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
914 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
915 self.speedAggregationQuantile = config.getint(self.sectionHeader, 'speed-aggregation-quantile')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
916 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable')
685
94b291a5f933 several updates for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 680
diff changeset
917 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop')
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
918 self.pedBikeCarSVMFilename = config.get(self.sectionHeader, 'pbv-svm-filename')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
919 self.bikeCarSVMFilename = config.get(self.sectionHeader, 'bv-svm-filename')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
920 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
921 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
922 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
923 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
924 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
925 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
926 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed')
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
927 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed')
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
928
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
929 # 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
930 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
931 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
932 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
933 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
934 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
935 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
936 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
937 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
938 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
939 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
940 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
941 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
942
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
943 def __init__(self, filename = None):
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 628
diff changeset
944 if filename is not None:
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
945 self.loadConfigFile(filename)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
946
680
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
947 def convertToFrames(self, speedRatio = 3.6):
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
948 '''Converts parameters with a relationship to time in 'native' frame time
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
949 speedRatio is the conversion from the speed unit in the config file
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
950 to the distance per second
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
951
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
952 ie param(config file) = speedRatio x fps x param(used in program)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
953 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame'''
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
954 denominator = self.videoFrameRate*speedRatio
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
955 denominator2 = denominator**2
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
956 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
957 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
958 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
959 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
960 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
961 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
962 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
963 # special case for the lognormal distribution
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
964 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator)
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
965 #self.scaleCyclistSpeed = self.scaleCyclistSpeed
da1352b89d02 classification is working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
966
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 664
diff changeset
967 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
968 def __init__(self, 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
969 from ConfigParser import NoOptionError
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
970 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
971 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
972 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
973 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
974 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
975 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
976 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
977 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
978 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
979 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
980 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
981 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
982 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
983 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
984 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
985
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 @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
987 def loadConfigFile(filename):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
988 from ConfigParser import ConfigParser
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 config = ConfigParser()
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
990 config.readfp(openCheck(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
991 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
992 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
993 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
994 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
995
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
996
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
997 if __name__ == "__main__":
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
998 import doctest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
999 import unittest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1000 suite = doctest.DocFileSuite('tests/storage.txt')
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
1001 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
1002 # #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
1003 # #doctest.testfile("example.txt")