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annotate python/storage.py @ 584:5bda87ac0a69

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renames removeFromSqlite to deleteFromSqlite
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 04 Dec 2014 16:57:29 -0500
parents 36605d843be5
children aab2242ea88c
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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 # IO to sqlite
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38 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1):
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39 """
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40 This function writers trajectories to a specified sqlite file
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41 @param[in] objects -> a list of trajectories
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42 @param[in] trajectoryType -
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43 @param[out] outputFilename -> the .sqlite file containting the written objects
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44 @param[in] objectNumber : number of objects loaded
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45 """
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46 connection = sqlite3.connect(outputFilename)
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47 cursor = connection.cursor()
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49 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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50 cursor.execute(schema)
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51
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52 trajectory_id = 0
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53 frame_number = 0
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54 if trajectoryType == 'feature':
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55 if type(objectNumbers) == int and objectNumbers == -1:
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56 for trajectory in objects:
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57 trajectory_id += 1
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58 frame_number = 0
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59 for position in trajectory.getPositions():
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60 frame_number += 1
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61 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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62 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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63
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64 connection.commit()
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65 connection.close()
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67 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1):
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68 '''write features trajectories maintain trajectory ID,velocities dataset '''
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69 connection = sqlite3.connect(outputFilename)
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70 cursor = connection.cursor()
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71
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72 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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73 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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74
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75 if trajectoryType == 'feature':
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76 if type(objectNumbers) == int and objectNumbers == -1:
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77 for trajectory in objects:
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78 trajectory_id = trajectory.num
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79 frame_number = trajectory.timeInterval.first
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80 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()):
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81 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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82 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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83 frame_number += 1
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84
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85 connection.commit()
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86 connection.close()
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87
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88 def writePrototypesToSqlite(prototypes,nMatching, outputFilename):
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89 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """
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90 connection = sqlite3.connect(outputFilename)
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91 cursor = connection.cursor()
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92
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93 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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94
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95 for route in prototypes.keys():
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96 if prototypes[route]!=[]:
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97 for i in prototypes[route]:
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98 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i]))
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99
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100 connection.commit()
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101 connection.close()
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102
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103 def loadPrototypesFromSqlite(filename):
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104 """
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105 This function loads the prototype file in the database
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106 It returns a dictionary for prototypes for each route and nMatching
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107 """
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108 prototypes = {}
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109 nMatching={}
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110
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111 connection = sqlite3.connect(filename)
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112 cursor = connection.cursor()
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113
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114 try:
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115 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching')
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116 except sqlite3.OperationalError as error:
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117 utils.printDBError(error)
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118 return []
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119
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120 for row in cursor:
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121 route=(row[1],row[2])
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122 if route not in prototypes.keys():
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123 prototypes[route]=[]
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124 prototypes[route].append(row[0])
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125 nMatching[row[0]]=row[3]
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126
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127 connection.close()
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128 return prototypes,nMatching
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129
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130 def writeLabelsToSqlite(labels, outputFilename):
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131 """ labels is a dictionary with keys: routes, values: prototypes Ids
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132 """
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133 connection = sqlite3.connect(outputFilename)
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134 cursor = connection.cursor()
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135
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136 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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137
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138 for route in labels.keys():
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139 if labels[route]!=[]:
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140 for i in labels[route]:
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141 for j in labels[route][i]:
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142 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i))
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143
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144 connection.commit()
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145 connection.close()
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146
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147 def loadLabelsFromSqlite(filename):
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148 labels = {}
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149
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150 connection = sqlite3.connect(filename)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
151 cursor = connection.cursor()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
152
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
153 try:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
154 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
155 except sqlite3.OperationalError as error:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
156 utils.printDBError(error)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
157 return []
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
158
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
159 for row in cursor:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
160 route=(row[1],row[2])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
161 p=row[3]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
162 if route not in labels.keys():
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
163 labels[route]={}
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
164 if p not in labels[route].keys():
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
165 labels[route][p]=[]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
166 labels[route][p].append(row[0])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
167
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
168 connection.close()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
169 return labels
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
170
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
171 def writeRoutesToSqlite(Routes, outputFilename):
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
172 """ 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
173 connection = sqlite3.connect(outputFilename)
546
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
174 cursor = connection.cursor()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
175
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
176 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))")
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
177
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MohamedGomaa
parents: 537
diff changeset
178 for route in Routes.keys():
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MohamedGomaa
parents: 537
diff changeset
179 if Routes[route]!=[]:
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MohamedGomaa
parents: 537
diff changeset
180 for i in Routes[route]:
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MohamedGomaa
parents: 537
diff changeset
181 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1]))
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
182
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
183 connection.commit()
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MohamedGomaa
parents: 537
diff changeset
184 connection.close()
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MohamedGomaa
parents: 537
diff changeset
185
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
186 def loadRoutesFromSqlite(filename):
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MohamedGomaa
parents: 537
diff changeset
187 Routes = {}
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MohamedGomaa
parents: 537
diff changeset
188
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MohamedGomaa
parents: 537
diff changeset
189 connection = sqlite3.connect(filename)
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MohamedGomaa
parents: 537
diff changeset
190 cursor = connection.cursor()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
191
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
192 try:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
193 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend')
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
194 except sqlite3.OperationalError as error:
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
195 utils.printDBError(error)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
196 return []
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
197
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
198 for row in cursor:
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MohamedGomaa
parents: 537
diff changeset
199 route=(row[1],row[2])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
200 if route not in Routes.keys():
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MohamedGomaa
parents: 537
diff changeset
201 Routes[route]=[]
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
202 Routes[route].append(row[0])
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
203
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
204 connection.close()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
205 return Routes
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
206
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MohamedGomaa
parents: 537
diff changeset
207 def setRoutes(filename, objects):
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MohamedGomaa
parents: 537
diff changeset
208 connection = sqlite3.connect(filename)
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
209 cursor = connection.cursor()
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MohamedGomaa
parents: 537
diff changeset
210 for obj in objects:
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MohamedGomaa
parents: 537
diff changeset
211 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
212 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
213 connection.commit()
6c0923f1ce68 add some functions for behaviour analysis
MohamedGomaa
parents: 537
diff changeset
214 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
215
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
216 def setRoadUserTypes(filename, objects):
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
217 '''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
218 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
219 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
220 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
221 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
222 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
223 connection.commit()
208
d9855499fc88 Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents: 204
diff changeset
224 connection.close()
d9855499fc88 Added functions to write trajectories through sqlite
Francois Belisle <belisle.francois@gmail.com>
parents: 204
diff changeset
225
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
226 def loadPrototypeMatchIndexesFromSqlite(filename):
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
227 """
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
228 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
229 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
230 """
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
231 matched_indexes = []
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
232
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
233 connection = sqlite3.connect(filename)
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
234 cursor = connection.cursor()
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
235
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
236 try:
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
237 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
238 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
239 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
240 return []
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
241
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
242 for row in cursor:
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
243 matched_indexes.append((row[0],row[1]))
211
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
244
ada6e8fbe4c6 2 Changes :
Francois Belisle <belisle.francois@gmail.com>
parents: 209
diff changeset
245 connection.close()
209
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
246 return matched_indexes
746d02cea65f Added function to read Prototype indexes matches.
Francois Belisle <belisle.francois@gmail.com>
parents: 208
diff changeset
247
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
248 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
249 if trajectoryType == 'feature':
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
250 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
251 elif trajectoryType == 'object':
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
252 statementBeginning = 'and OF.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
253 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
254 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
255
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 if type(objectNumbers) == int:
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 if objectNumbers == -1:
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 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
259 else:
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
260 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
261 elif type(objectNumbers) == list:
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
262 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
263 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
264
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
265 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
266 '''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
267 can be positions or velocities
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
268
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
269 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
270 cursor = connection.cursor()
204
966c2cd2bd9f added code to load object trajectories (average of features)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 203
diff changeset
271
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
272 try:
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
273 if trajectoryType == 'feature':
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
274 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
275 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number'
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
276 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
277 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
278 elif trajectoryType == 'object':
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
279 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
280 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number'
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
281 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
282 logging.debug(queryStatement)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
283 else:
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
284 print('no trajectory type was chosen')
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
285 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
286 printDBError(error)
215
5e2983b05d4e created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 212
diff changeset
287 return []
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
288
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
289 objId = -1
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
290 obj = None
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
291 objects = []
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
292 for row in cursor:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
293 if row[0] != objId:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
294 objId = row[0]
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
295 if obj:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
296 objects.append(obj)
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
297 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
298 else:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
299 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
300 obj.positions.addPositionXY(row[2],row[3])
436b87d4b992 wrote the code to load positions from sqlite database
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parents: 78
diff changeset
301
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
302 if obj:
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
303 objects.append(obj)
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
304
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
305 return objects
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
306
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
307 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
308 '''Loads nObjects or the indices in objectNumbers from the database'''
239
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
309 connection = sqlite3.connect(filename) # add test if it open
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
310
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
311 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
312 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
313
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
314 if len(objectVelocities) > 0:
93c26e45efd8 modified functions to read velocities from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 235
diff changeset
315 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
316 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
317 o.velocities = v.positions
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
318 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
319 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
320 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
321
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
322 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
323 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
324 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
325 # 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
326 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType)
417
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
327 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
328 cursor.execute(queryStatement)
a2ff03a52b73 added basic logging capability for debugging
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 394
diff changeset
329 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
330
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
331 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
332 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
333 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
334 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
335 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
336 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
337 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
338
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
339 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
340 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
341
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
342 # load userType
330
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
343 if objectIdQuery == '':
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
344 cursor.execute('SELECT object_id, road_user_type from objects')
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
345 else:
00800ebae698 corrected bug in db loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 329
diff changeset
346 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:])
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
347 userTypes = {}
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
348 for row in cursor:
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
349 userTypes[row[0]] = 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
350
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
351 for obj in objects:
a70c205ebdd9 added sqlite code, in particular to load and save road user type
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parents: 327
diff changeset
352 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
353
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
354 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
355 printDBError(error)
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
356 return []
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
357
143
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
358 connection.close()
436b87d4b992 wrote the code to load positions from sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 78
diff changeset
359 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
360
584
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
361 def deleteFromSqlite(filename, dataType):
5bda87ac0a69 renames removeFromSqlite to deleteFromSqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 564
diff changeset
362 '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
363 import os
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
364 if os.path.isfile(filename):
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
365 connection = sqlite3.connect(filename)
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
366 if dataType == 'object':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
367 dropTables(connection, ['objects', 'objects_features'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
368 elif dataType == 'interaction':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
369 dropTables(connection, ['interactions', 'indicators'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
370 elif dataType == 'bb':
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
371 dropTables(connection, ['bounding_boxes'])
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
372 else:
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
373 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
374 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
375 else:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
376 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
377
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
378 def createInteractionTable(cursor):
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
379 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
380
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
381 def createIndicatorTables(cursor):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
382 # 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
383 # 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
384 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
385
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
386 def saveInteraction(cursor, interaction):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
387 roadUserNumbers = list(interaction.getRoadUserNumbers())
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
388 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
389
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
390 def saveInteractions(filename, interactions):
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
391 'Saves the interactions in the table'
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
392 connection = sqlite3.connect(filename)
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
393 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
394 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
395 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
396 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
397 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
398 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
399 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
400 connection.commit()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
401 connection.close()
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
402
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
403 def saveIndicator(cursor, interactionNum, indicator):
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
404 for instant in indicator.getTimeInterval():
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
405 if indicator[instant]:
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
406 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
407
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
408 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
409 '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
410 connection = sqlite3.connect(filename)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
411 cursor = connection.cursor()
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
412 try:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
413 createInteractionTable(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
414 createIndicatorTables(cursor)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
415 for inter in interactions:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
416 saveInteraction(cursor, inter)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
417 for indicatorName in indicatorNames:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
418 indicator = inter.getIndicator(indicatorName)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
419 if indicator != None:
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
420 saveIndicator(cursor, inter.getNum(), indicator)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
421 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
422 printDBError(error)
341
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
423 connection.commit()
2f39c4ed0b62 first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 340
diff changeset
424 connection.close()
340
1046b7346886 work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 335
diff changeset
425
482
f6415f012640 adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 417
diff changeset
426 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
427 '''Loads interaction and their indicators
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
428
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
429 TODO choose the interactions to load'''
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
430 interactions = []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
431 connection = sqlite3.connect(filename)
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
432 cursor = connection.cursor()
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
433 try:
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
434 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
435 interactionNum = -1
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
436 indicatorTypeNum = -1
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
437 tmpIndicators = {}
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
438 for row in cursor:
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
439 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
440 if interactionNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
441 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
442 interactions[-1].indicators = tmpIndicators
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
443 tmpIndicators = {}
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
444 interactionNum = row[0]
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
445 roadUserNumbers = row[1:3]
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
446 if indicatorTypeNum != row[5]:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
447 if indicatorTypeNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
448 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
449 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
450 indicatorTypeNum = row[5]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
451 indicatorValues = {row[6]:row[7]}
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
452 else:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
453 indicatorValues[row[6]] = row[7]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
454 if interactionNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
455 if indicatorTypeNum >= 0:
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
456 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum]
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
457 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues)
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
458 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
459 interactions[-1].indicators = tmpIndicators
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
460 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
461 printDBError(error)
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
462 return []
342
4d69486869a5 work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 341
diff changeset
463 connection.close()
343
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
464 return interactions
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
465 # load first and last object instants
74e437ab5f11 first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 342
diff changeset
466 # 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
467
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
468 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
469 '''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
470 '''
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
471 connection = sqlite3.connect(filename)
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
472 cursor = connection.cursor()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
473 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
474 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
475 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
476 '(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
477 '(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
478 '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
479 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
480 printDBError(error)
390
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
481 connection.commit()
12be4a0cb9aa sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 382
diff changeset
482 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
483
393
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
484 def loadBoundingBoxTable(filename):
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
485 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
486 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
487 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
488 try:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
489 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
490 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
491 if len(result) > 0:
394
6567fee37c16 renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 393
diff changeset
492 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
493 #objId = -1
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
494 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
495 #if row[0] != objId:
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
496 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
497 except sqlite3.OperationalError as error:
491
343cfd185ca6 minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 482
diff changeset
498 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
499 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
500 connection.close()
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
501 return boundingBoxes
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
502
eaf7765221d9 added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 390
diff changeset
503
329
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
504 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
505 # 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
506 #########################
a70c205ebdd9 added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 327
diff changeset
507
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
508 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
509 '''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
510 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
511 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
512 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
513 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
514 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
515 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
516 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
517 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
518 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
519
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
520 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
521 '''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
522 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
523 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
524 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
525 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
526 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
527
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
528 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
529 '''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
530 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
531 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
532 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
533 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
534 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
535 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
536
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
537 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
538 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
539 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
540 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
541 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
542
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
543 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
544 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
545 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
546 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
547 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
548
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
549 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
550 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
551 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
552 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
553 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
554 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
555
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
556 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
557 '''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
558
935430b1d408 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 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
560 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
561 '''
935430b1d408 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 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
563 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
564 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
565
935430b1d408 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 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
567 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
568 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
569 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
570 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
571
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
572 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
573 '''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
574 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
575 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
576 so simulationStepsPerTimeUnit should be 5,
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
577 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
578
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
579 Assumed to be sorted over time'''
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
580 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
581 firstInstants = {}
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
582
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 inputfile = openCheck(filename, quitting = True)
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
584
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
585 # 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
586 # 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
587 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
588 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
589 data = line.strip().split(';')
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
590 objNum = int(data[1])
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
591 instant = int(float(data[0])*simulationStepsPerTimeUnit)
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
592 s = float(data[4])
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
593 y = float(data[5])
527
37830a831818 loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 526
diff changeset
594 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
595 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
596 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
597 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
598 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
599 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
600 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
601 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
602 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
603 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
604 line = readline(inputfile, '*$')
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
605
525
7124c7d2a663 first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
606 return objects.values()
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 514
diff changeset
607
173
319a04ba9033 function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 143
diff changeset
608 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
609 '''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
610 and returns the list of Feature objects'''
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
611 objects = []
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
612
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
613 inputfile = openCheck(filename, quitting = True)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
614
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
615 def createObject(numbers):
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
616 firstFrameNum = int(numbers[1])
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
617 # do the geometry and usertype
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
618
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
619 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
620 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
621 #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
622 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
623 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
624 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
625 userType = int(numbers[10]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
626 obj.userType = int(numbers[10])
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
627 obj.laneNums = [int(numbers[13])]
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
628 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
629 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
630 obj.spaceHeadways = [float(numbers[16])] # feet
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
631 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
632 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
633 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
634 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
635 return obj
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
636
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
637 numbers = readline(inputfile).strip().split()
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
638 if (len(numbers) > 0):
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
639 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
640
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
641 for line in inputfile:
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
642 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
643 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
644 # 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
645 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
646 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
647 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
648 #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
649 objects.append(obj)
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
650 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
651 break
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
652 obj = createObject(numbers)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
653 else:
327
42f2b46ec210 added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 326
diff changeset
654 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
655 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
656 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
657 obj.speeds.append(float(numbers[11]))
78
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
658 obj.precedingVehicles.append(int(numbers[14]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
659 obj.followingVehicles.append(int(numbers[15]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
660 obj.spaceHeadways.append(float(numbers[16]))
99e807c29753 added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 72
diff changeset
661 obj.timeHeadways.append(float(numbers[17]))
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
662
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
663 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
664 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
665 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
666 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
667
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
668 inputfile.close()
7
ffddccfab7f9 loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents: 0
diff changeset
669 return objects
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
670
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
671 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
672 '''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
673 and converts to our current format.'''
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
674 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
675 out = openCheck(outputfile,'a')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
676 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
677 out = openCheck(outputfile,'w')
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
678 nObjectsPerType = [0,0,0]
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
679
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
680 features = loadNgsimFile(inputfile, sequenceNum)
0
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
681 for f in features:
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
682 nObjectsPerType[f.userType-1] += 1
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
683 f.write(out)
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
684
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
685 print nObjectsPerType
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
686
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
687 out.close()
aed8eb63cdde initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff changeset
688
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
689 def writePositionsToCsv(f, obj):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
690 timeInterval = obj.getTimeInterval()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
691 positions = obj.getPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
692 curvilinearPositions = obj.getCurvilinearPositions()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
693 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
694 p1 = positions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
695 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
696 if curvilinearPositions != None:
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
697 p2 = curvilinearPositions[i]
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
698 s += ',{},{}'.format(p2[0],p2[1])
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
699 f.write(s+'\n')
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
700
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
701 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
702 f = openCheck(filename, 'w')
335
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
703 for i,obj in enumerate(objects):
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
704 writePositionsToCsv(f, obj)
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
705 f.close()
3950bfe22768 added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 330
diff changeset
706
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
707
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
708 #########################
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
709 # 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
710 #########################
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
711
536
95276d310972 renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 527
diff changeset
712 class ProcessParameters:
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
713 '''Class for all parameters controlling data processing: input,
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
714 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
715
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
716 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
717
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
718 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
719 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
720 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
721 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
722
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
723 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
724 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
725 self.sectionHeader = config.sections()[0]
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
726 # 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
727 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
728 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
729 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
730 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
731 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
732 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
733 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
734 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
735 if (path.exists(self.intrinsicCameraFilename)):
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
736 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
737 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
738 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
739 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
740 self.distortionCoefficients = [float(x) for x in distortionCoefficients]
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
741 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
742 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
743 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
744 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
377
2aed569f39e7 added utils
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 344
diff changeset
745
537
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
746 # Classification parameters
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
747
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
748
6c264b914846 work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 536
diff changeset
749 # Safety parameters
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
750 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
751 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
752 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
753 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
754 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
755 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
756 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
757 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
758 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
759 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
760 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
761 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
762
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
763 def __init__(self, filename = 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
764 if filename != 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
765 self.loadConfigFile(filename)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
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 class SceneParameters:
935430b1d408 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 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
769 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
770 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
771 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
772 self.sitename = config.get(sectionName, 'sitename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
773 self.databaseFilename = config.get(sectionName, 'data-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
774 self.homographyFilename = config.get(sectionName, 'homography-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
775 self.calibrationFilename = config.get(sectionName, 'calibration-filename')
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
776 self.videoFilename = config.get(sectionName, 'video-filename')
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diff changeset
777 self.frameRate = config.getfloat(sectionName, 'framerate')
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diff changeset
778 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39
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diff changeset
779 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0]
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diff changeset
780 self.rotation = config.getfloat(sectionName, 'rotation')
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parents: 491
diff changeset
781 self.duration = config.getint(sectionName, 'duration')
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parents: 491
diff changeset
782 except NoOptionError as e:
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parents: 491
diff changeset
783 print(e)
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diff changeset
784 print('Not a section for scene meta-data')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
785
935430b1d408 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 @staticmethod
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
787 def loadConfigFile(filename):
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parents: 491
diff changeset
788 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
789 config = ConfigParser()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
790 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
791 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
792 for sectionName in config.sections():
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parents: 491
diff changeset
793 configDict[sectionName] = SceneParameters(config, sectionName)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
794 return configDict
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 491
diff changeset
795
382
ba813f148ade development for clustering
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parents: 377
diff changeset
796
215
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diff changeset
797 if __name__ == "__main__":
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diff changeset
798 import doctest
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diff changeset
799 import unittest
5e2983b05d4e created first doctest tests for storage
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diff changeset
800 suite = doctest.DocFileSuite('tests/storage.txt')
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diff changeset
801 unittest.TextTestRunner().run(suite)
72
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diff changeset
802 # #doctest.testmod()
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diff changeset
803 # #doctest.testfile("example.txt")