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annotate python/storage.py @ 589:5800a87f11ae

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corrected one bug and changed attribute names
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Dec 2014 15:14:44 -0500
parents c5406edbcf12
children dc2d0a0d7fe1
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1 #! /usr/bin/env python
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2 # -*- coding: utf-8 -*-
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3 '''Various utilities to save and load data'''
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4
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5 import utils, moving, events, indicators
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6
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7 import sqlite3, logging
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9 __metaclass__ = type
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11
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12 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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19
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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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67
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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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88
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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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103
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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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diff changeset
150
6c0923f1ce68 add some functions for behaviour analysis
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parents: 537
diff changeset
151 connection = sqlite3.connect(filename)
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diff changeset
152 cursor = connection.cursor()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
153
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
154 try:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
155 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
156 except sqlite3.OperationalError as error:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
157 utils.printDBError(error)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
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diff changeset
158 return []
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
159
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MohamedGomaa
parents: 537
diff changeset
160 for row in cursor:
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MohamedGomaa
parents: 537
diff changeset
161 route=(row[1],row[2])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
162 p=row[3]
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MohamedGomaa
parents: 537
diff changeset
163 if route not in labels.keys():
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MohamedGomaa
parents: 537
diff changeset
164 labels[route]={}
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
165 if p not in labels[route].keys():
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MohamedGomaa
parents: 537
diff changeset
166 labels[route][p]=[]
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MohamedGomaa
parents: 537
diff changeset
167 labels[route][p].append(row[0])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
168
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
169 connection.close()
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diff changeset
170 return labels
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parents: 537
diff changeset
171
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
172 def writeRoutesToSqlite(Routes, outputFilename):
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
173 """ 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)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 552
diff changeset
174 connection = sqlite3.connect(outputFilename)
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
175 cursor = connection.cursor()
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parents: 537
diff changeset
176
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parents: 537
diff changeset
177 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))")
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diff changeset
178
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MohamedGomaa
parents: 537
diff changeset
179 for route in Routes.keys():
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MohamedGomaa
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diff changeset
180 if Routes[route]!=[]:
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MohamedGomaa
parents: 537
diff changeset
181 for i in Routes[route]:
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diff changeset
182 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1]))
6c0923f1ce68 add some functions for behaviour analysis
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parents: 537
diff changeset
183
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
184 connection.commit()
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MohamedGomaa
parents: 537
diff changeset
185 connection.close()
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186
6c0923f1ce68 add some functions for behaviour analysis
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187 def loadRoutesFromSqlite(filename):
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MohamedGomaa
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188 Routes = {}
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diff changeset
189
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MohamedGomaa
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diff changeset
190 connection = sqlite3.connect(filename)
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MohamedGomaa
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diff changeset
191 cursor = connection.cursor()
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MohamedGomaa
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diff changeset
192
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
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diff changeset
193 try:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
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diff changeset
194 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
195 except sqlite3.OperationalError as error:
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MohamedGomaa
parents: 537
diff changeset
196 utils.printDBError(error)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
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diff changeset
197 return []
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MohamedGomaa
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diff changeset
198
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199 for row in cursor:
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MohamedGomaa
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diff changeset
200 route=(row[1],row[2])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
201 if route not in Routes.keys():
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MohamedGomaa
parents: 537
diff changeset
202 Routes[route]=[]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
203 Routes[route].append(row[0])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
204
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
205 connection.close()
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MohamedGomaa
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diff changeset
206 return Routes
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
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207
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MohamedGomaa
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diff changeset
208 def setRoutes(filename, objects):
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MohamedGomaa
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diff changeset
209 connection = sqlite3.connect(filename)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
210 cursor = connection.cursor()
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MohamedGomaa
parents: 537
diff changeset
211 for obj in objects:
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MohamedGomaa
parents: 537
diff changeset
212 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum()))
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
213 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum()))
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
214 connection.commit()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
215 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
216
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
217 def setRoadUserTypes(filename, objects):
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
218 '''Saves the user types of the objects in the sqlite database stored in filename
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
219 The objects should exist in the objects table'''
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
220 connection = sqlite3.connect(filename)
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
221 cursor = connection.cursor()
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
222 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
223 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), 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
224 connection.commit()
208
d9855499fc88 Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents: 204
diff changeset
225 connection.close()
d9855499fc88 Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents: 204
diff changeset
226
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
227 def loadPrototypeMatchIndexesFromSqlite(filename):
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
228 """
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
229 This function loads the prototypes table in the database of name <filename>.
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
230 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
231 """
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
232 matched_indexes = []
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
233
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
234 connection = sqlite3.connect(filename)
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
235 cursor = connection.cursor()
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
236
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
237 try:
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
238 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
239 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
240 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
241 return []
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
242
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
243 for row in cursor:
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
244 matched_indexes.append((row[0],row[1]))
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
245
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
246 connection.close()
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
247 return matched_indexes
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
248
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
249 def getTrajectoryIdQuery(objectNumbers, trajectoryType):
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
250 if trajectoryType == 'feature':
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
251 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
252 elif trajectoryType == 'object':
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
253 statementBeginning = 'and OF.object_id '
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
254 elif trajectoryType == 'bbtop' or 'bbbottom':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
255 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
256 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
257 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
258
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
259 if objectNumbers is None:
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
260 query = ''
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
261 elif type(objectNumbers) == int:
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
262 query = statementBeginning+'between 0 and {0} '.format(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
263 elif type(objectNumbers) == list:
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
264 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
265 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
266
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
267 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
268 '''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
269 can be positions or velocities
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
270
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
271 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
272 cursor = connection.cursor()
204
966c2cd2bd9f added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 203
diff changeset
273
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
274 try:
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
275 idQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
276 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
277 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
278 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
279 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
280 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
281 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
282 cursor.execute(queryStatement)
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
283 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
284 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
285 if trajectoryType == 'bbtop':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
286 corner = 'top_left'
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
287 elif trajectoryType == 'bbbottom':
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
288 corner = 'bottom_right'
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
289 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
290 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
291 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
292 else:
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
293 print('no trajectory type was chosen')
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
294 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
295 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
296 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
297
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
298 objId = -1
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
299 obj = None
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
300 objects = []
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
301 for row in cursor:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
302 if row[0] != objId:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
303 objId = row[0]
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
304 if obj != 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
305 objects.append(obj)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
306 elif obj != None:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
307 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
308 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
309 else:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
310 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
311 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
312
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
313 if obj != 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
314 objects.append(obj)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
315 elif obj != None:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
316 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
317
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
318 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
319
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
320 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
321 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
322 if objectIdQuery == '':
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
323 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
324 else:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
325 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
326 userTypes = {}
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
327 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
328 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
329 return userTypes
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
330
585
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
331 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None):
aab2242ea88c minor modification of objectNumbers to None
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 584
diff changeset
332 '''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
333 connection = sqlite3.connect(filename)
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
334
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
335 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
336 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
337
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
338 if len(objectVelocities) > 0:
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
339 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
340 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
341 o.velocities = v.positions
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
342 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
343 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
344 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
345
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
346 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
347 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
348 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
349 # 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
350 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
351 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
352 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
353 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
354
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
355 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
356 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
357 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
358 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
359 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
360 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
361 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
362
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
363 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
364 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
365
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
366 # load userType
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
367 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
368 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
369 obj.userType = userTypes[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
370
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
371 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
372 printDBError(error)
588
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
373 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
374
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
375 connection.close()
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
376 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
377
589
5800a87f11ae corrected one bug and changed attribute names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 588
diff changeset
378 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
379 '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
380 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
381 gt = []
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
382
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
383 if gtType == 'bb':
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
384 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
385 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
386 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
387
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
388 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
389 num = t.getNum()
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
390 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
391 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
392 gt.append(annotation)
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
393 else:
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
394 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
395
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
396 connection.close()
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
397 return gt
c5406edbcf12 added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 587
diff changeset
398
584
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
399 def deleteFromSqlite(filename, dataType):
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
400 '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
401 import os
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
402 if os.path.isfile(filename):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
403 connection = sqlite3.connect(filename)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
404 if dataType == 'object':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
405 dropTables(connection, ['objects', 'objects_features'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
406 elif dataType == 'interaction':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
407 dropTables(connection, ['interactions', 'indicators'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
408 elif dataType == 'bb':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
409 dropTables(connection, ['bounding_boxes'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
410 else:
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
411 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
412 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
413 else:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
414 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
415
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
416 def createInteractionTable(cursor):
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
417 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
418
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
419 def createIndicatorTables(cursor):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
420 # 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
421 # 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
422 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
423
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
424 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
425 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
426 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
427
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
428 def saveInteractions(filename, interactions):
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
429 'Saves the interactions in the table'
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
430 connection = sqlite3.connect(filename)
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
431 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
432 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
433 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
434 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
435 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
436 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
437 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
438 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
439 connection.close()
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
440
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
441 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
442 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
443 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
444 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
445
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
446 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
447 '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
448 connection = sqlite3.connect(filename)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
449 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
450 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
451 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
452 createIndicatorTables(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
453 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
454 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
455 for indicatorName in indicatorNames:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
456 indicator = inter.getIndicator(indicatorName)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
457 if indicator != None:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
458 saveIndicator(cursor, inter.getNum(), indicator)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
459 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
460 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
461 connection.commit()
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
462 connection.close()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
463
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
464 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
465 '''Loads interaction and their indicators
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
466
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
467 TODO choose the interactions to load'''
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
468 interactions = []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
469 connection = sqlite3.connect(filename)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
470 cursor = connection.cursor()
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
471 try:
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
472 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
473 interactionNum = -1
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
474 indicatorTypeNum = -1
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
475 tmpIndicators = {}
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
476 for row in cursor:
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
477 if row[0] != interactionNum: # save interaction and create new interaction
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
478 if interactionNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
479 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
480 interactions[-1].indicators = tmpIndicators
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
481 tmpIndicators = {}
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
482 interactionNum = row[0]
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
483 roadUserNumbers = row[1:3]
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
484 if indicatorTypeNum != row[5]:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
485 if indicatorTypeNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
486 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
487 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
488 indicatorTypeNum = row[5]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
489 indicatorValues = {row[6]:row[7]}
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
490 else:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
491 indicatorValues[row[6]] = row[7]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
492 if interactionNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
493 if indicatorTypeNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
494 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
495 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
496 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1]))
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
497 interactions[-1].indicators = tmpIndicators
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
498 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
499 printDBError(error)
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
500 return []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
501 connection.close()
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
502 return interactions
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
503 # load first and last object instants
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
504 # 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
505
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
506 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
507 '''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
508 '''
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
509 connection = sqlite3.connect(filename)
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
510 cursor = connection.cursor()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
511 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
512 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
513 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
514 '(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
515 '(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
516 '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
517 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
518 printDBError(error)
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
519 connection.commit()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
520 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
521
586
ff4f0ce46ca6 modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 585
diff changeset
522 def loadBoundingBoxTableForDisplay(filename):
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
523 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
524 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
525 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
526 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
527 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
528 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
529 if len(result) > 0:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
530 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
531 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
532 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
533 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
534 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
535 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
536 connection.close()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
537 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
538
587
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
539 def loadBoundingBoxTable(filename):
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
540 connection = sqlite3.connect(filename)
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
541 cursor = connection.cursor()
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
542 boundingBoxes = []
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
543
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
544 try:
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
545 pass
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
546 except sqlite3.OperationalError as error:
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
547 printDBError(error)
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
548 return boundingBoxes
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
549 connection.close()
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
550 return boundingBoxes
cf578ba866da added code to load bounding box corners as trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 586
diff changeset
551
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
552
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
553 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
554 # 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
555 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
556
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
557 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
558 '''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
559 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
560 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
561 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
562 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
563 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
564 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
565 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
566 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
567 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
568
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
569 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
570 '''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
571 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
572 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
573 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
574 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
575 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
576
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
577 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
578 '''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
579 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
580 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
581 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
582 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
583 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
584 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
585
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
586 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
587 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
588 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
589 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
590 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
591
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
592 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
593 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
594 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
595 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
596 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
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 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
599 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
600 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
601 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
602 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
603 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
604
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 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
606 '''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
607
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 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
609 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
610 '''
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 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
612 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
613 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
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 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
616 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
617 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
618 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
619 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
620
541
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
621 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None):
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
622 '''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
623 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
624 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
625 so simulationStepsPerTimeUnit should be 5,
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
626 so that all times correspond to the number of the simulation step (and can be stored as integers)
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
627
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
628 Assumed to be sorted over time'''
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
629 objects = {} # dictionary of objects index by their id
541
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
630 firstInstants = {}
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
631
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
632 inputfile = openCheck(filename, quitting = True)
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
633
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
634 # data = pd.read_csv(filename, skiprows=15, delimiter=';')
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
635 # 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
636 line = readline(inputfile, '*$')
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
637 while len(line) > 0:#for line in inputfile:
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
638 data = line.strip().split(';')
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
639 objNum = int(data[1])
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
640 instant = int(float(data[0])*simulationStepsPerTimeUnit)
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
641 s = float(data[4])
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
642 y = float(data[5])
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
643 lane = data[2]+'_'+data[3]
541
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
644 if objNum not in firstInstants:
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
645 firstInstants[objNum] = instant
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
646 if warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant:
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
647 if nObjects < 0 or len(objects) < nObjects:
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
648 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant))
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
649 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory()
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
650 if (warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant) and objNum in objects:
048b43654870 added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 537
diff changeset
651 objects[objNum].timeInterval.last = instant
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 541
diff changeset
652 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane)
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
653 line = readline(inputfile, '*$')
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
654
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
655 return objects.values()
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
656
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
657 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
658 '''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
659 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
660 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
661
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
662 inputfile = openCheck(filename, quitting = True)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
663
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
664 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
665 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
666 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
667
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
668 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
669 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
670 #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
671 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
672 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
673 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
674 userType = int(numbers[10]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
675 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
676 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
677 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
678 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
679 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
680 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
681 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
682 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
683 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
684 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
685
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
686 numbers = readline(inputfile).strip().split()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
687 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
688 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
689
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
690 for line in inputfile:
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
691 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
692 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
693 # 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
694 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
695 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
696 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
697 #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
698 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
699 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
700 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
701 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
702 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
703 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
704 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
705 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
706 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
707 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
708 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
709 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
710 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
711
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
712 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
713 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
714 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
715 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
716
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
717 inputfile.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
718 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
719
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
720 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
721 '''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
722 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
723 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
724 out = openCheck(outputfile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
725 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
726 out = openCheck(outputfile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
727 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
728
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
729 features = loadNgsimFile(inputfile, sequenceNum)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
730 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
731 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
732 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
733
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
734 print nObjectsPerType
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
735
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
736 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
737
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
738 def writePositionsToCsv(f, obj):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
739 timeInterval = obj.getTimeInterval()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
740 positions = obj.getPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
741 curvilinearPositions = obj.getCurvilinearPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
742 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
743 p1 = positions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
744 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y)
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
745 if curvilinearPositions != None:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
746 p2 = curvilinearPositions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
747 s += ',{},{}'.format(p2[0],p2[1])
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
748 f.write(s+'\n')
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
749
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
750 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
751 f = openCheck(filename, 'w')
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
752 for i,obj in enumerate(objects):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
753 writePositionsToCsv(f, obj)
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
754 f.close()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
755
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
756
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
757 #########################
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
758 # 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
759 #########################
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
760
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
761 class ProcessParameters:
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
762 '''Class for all parameters controlling data processing: input,
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
763 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
764
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
765 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
766
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
767 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
768 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
769 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
770 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
771
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
772 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
773 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
774 self.sectionHeader = config.sections()[0]
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
775 # 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
776 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
777 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
778 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
779 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
780 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
781 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
782 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
783 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
784 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>
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diff changeset
785 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
786 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
787 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
788 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
789 self.distortionCoefficients = [float(x) for x in distortionCoefficients]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
790 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
791 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
792 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
793 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
377
2aed569f39e7 added utils
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diff changeset
794
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
795 # Classification parameters
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
796
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
797
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
798 # Safety parameters
509
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
799 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
800 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
801 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
802 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
803 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
804 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
805 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
806 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
807 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
808 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
809 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
810 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
811
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
812 def __init__(self, filename = None):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
813 if filename != None:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
814 self.loadConfigFile(filename)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
815
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
816 class SceneParameters:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
817 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
818 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
819 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
820 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
821 self.sitename = config.get(sectionName, 'sitename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
822 self.databaseFilename = config.get(sectionName, 'data-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
823 self.homographyFilename = config.get(sectionName, 'homography-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
824 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
825 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
826 self.frameRate = config.getfloat(sectionName, 'framerate')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
827 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
828 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
829 self.rotation = config.getfloat(sectionName, 'rotation')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
830 self.duration = config.getint(sectionName, 'duration')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
831 except NoOptionError as e:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
832 print(e)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
833 print('Not a section for scene meta-data')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
834
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
835 @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
836 def loadConfigFile(filename):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
837 from ConfigParser import ConfigParser
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
838 config = ConfigParser()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
839 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
840 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
841 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
842 configDict[sectionName] = SceneParameters(config, sectionName)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
843 return configDict
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
844
382
ba813f148ade development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 377
diff changeset
845
215
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
846 if __name__ == "__main__":
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
847 import doctest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
848 import unittest
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
849 suite = doctest.DocFileSuite('tests/storage.txt')
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
850 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>
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diff changeset
851 # #doctest.testmod()
575340e6fce3 corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
852 # #doctest.testfile("example.txt")