Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 921:630934595871
work in progress with prototype class
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 05 Jul 2017 18:01:43 -0400 |
parents | 499154254f37 |
children | acb5379c5fd7 |
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1 #! /usr/bin/env python |
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Added functions to write trajectories through sqlite
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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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work in progress storage vissim sqlite
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5 import utils, moving, events, indicators, shutil |
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corrected bug with circular import for VideoFilenameAddable, moved to base module
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6 from base import VideoFilenameAddable |
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7 |
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avoid crash for missing configuration filename
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8 from os import path |
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9 from copy import copy |
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10 import sqlite3, logging |
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11 from numpy import log, min as npmin, max as npmax, round as npround, array, sum as npsum, loadtxt, floor as npfloor, ceil as npceil, linalg |
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12 from pandas import read_csv, merge |
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13 |
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14 |
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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15 commentChar = '#' |
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16 |
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17 delimiterChar = '%'; |
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18 |
50 | 19 ngsimUserTypes = {'twowheels':1, |
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added code to load object trajectories (average of features)
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20 'car':2, |
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21 'truck':3} |
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22 |
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23 tableNames = {'feature':'positions', |
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24 'object': 'objects', |
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25 'objectfeatures': 'positions'} |
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26 |
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27 ######################### |
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28 # Sqlite |
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29 ######################### |
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30 |
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31 # utils |
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32 def printDBError(error): |
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33 print('DB Error: {}'.format(error)) |
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34 |
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35 def dropTables(connection, tableNames): |
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36 'deletes the table with names in tableNames' |
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37 try: |
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38 cursor = connection.cursor() |
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39 for tableName in tableNames: |
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40 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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41 except sqlite3.OperationalError as error: |
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42 printDBError(error) |
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43 |
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44 def deleteFromSqlite(filename, dataType): |
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45 'Deletes (drops) some tables in the filename depending on type of data' |
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46 if path.isfile(filename): |
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47 connection = sqlite3.connect(filename) |
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48 if dataType == 'object': |
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49 dropTables(connection, ['objects', 'objects_features']) |
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50 elif dataType == 'interaction': |
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51 dropTables(connection, ['interactions', 'indicators']) |
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52 elif dataType == 'bb': |
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53 dropTables(connection, ['bounding_boxes']) |
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54 elif dataType == 'pois': |
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55 dropTables(connection, ['gaussians2d', 'objects_pois']) |
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56 elif dataType == 'prototype': |
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57 dropTables(connection, ['prototypes']) |
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58 else: |
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59 print('Unknown data type {} to delete from database'.format(dataType)) |
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60 connection.close() |
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61 else: |
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62 print('{} does not exist'.format(filename)) |
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63 |
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64 def tableExists(connection, tableName): |
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65 'indicates if the table exists in the database' |
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66 try: |
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67 #connection = sqlite3.connect(filename) |
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68 cursor = connection.cursor() |
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69 cursor.execute('SELECT COUNT(*) FROM SQLITE_MASTER WHERE type = \'table\' AND name = \''+tableName+'\'') |
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70 return cursor.fetchone()[0] == 1 |
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71 except sqlite3.OperationalError as error: |
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72 printDBError(error) |
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73 |
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74 def createTrajectoryTable(cursor, tableName): |
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75 if tableName.endswith('positions') or tableName.endswith('velocities'): |
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76 cursor.execute("CREATE TABLE IF NOT EXISTS "+tableName+" (trajectory_id INTEGER, frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") |
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77 else: |
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78 print('Unallowed name {} for trajectory table'.format(tableName)) |
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79 |
879 | 80 def createObjectsTable(cursor): |
81 cursor.execute("CREATE TABLE IF NOT EXISTS objects (object_id INTEGER, road_user_type INTEGER, n_objects INTEGER, PRIMARY KEY(object_id))") | |
82 | |
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83 def createAssignmentTable(cursor, objectType1, objectType2, columnName1, columnName2): |
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84 cursor.execute("CREATE TABLE IF NOT EXISTS "+objectType1+"s_"+objectType2+"s ("+columnName1+" INTEGER, "+columnName1+" INTEGER, PRIMARY KEY("+columnName1+","+columnName2+"))") |
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85 |
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86 def createObjectsFeaturesTable(cursor): # same as |
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87 cursor.execute("CREATE TABLE IF NOT EXISTS objects_features (object_id INTEGER, trajectory_id INTEGER, PRIMARY KEY(object_id, trajectory_id))") |
879 | 88 |
89 | |
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90 def createCurvilinearTrajectoryTable(cursor): |
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91 cursor.execute("CREATE TABLE IF NOT EXISTS curvilinear_positions (trajectory_id INTEGER, frame_number INTEGER, s_coordinate REAL, y_coordinate REAL, lane TEXT, PRIMARY KEY(trajectory_id, frame_number))") |
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92 |
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93 def createFeatureCorrespondenceTable(cursor): |
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94 cursor.execute('CREATE TABLE IF NOT EXISTS feature_correspondences (trajectory_id INTEGER, source_dbname VARCHAR, db_trajectory_id INTEGER, PRIMARY KEY(trajectory_id))') |
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95 |
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96 def createInteractionTable(cursor): |
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97 cursor.execute('CREATE TABLE IF NOT EXISTS interactions (id INTEGER PRIMARY KEY, object_id1 INTEGER, object_id2 INTEGER, first_frame_number INTEGER, last_frame_number INTEGER, FOREIGN KEY(object_id1) REFERENCES objects(id), FOREIGN KEY(object_id2) REFERENCES objects(id))') |
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98 |
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99 def createIndicatorTable(cursor): |
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100 cursor.execute('CREATE TABLE IF NOT EXISTS indicators (interaction_id INTEGER, indicator_type INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(interaction_id) REFERENCES interactions(id), PRIMARY KEY(interaction_id, indicator_type, frame_number))') |
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101 |
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102 def insertTrajectoryQuery(tableName): |
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103 return "INSERT INTO "+tableName+" (trajectory_id, frame_number, x_coordinate, y_coordinate) VALUES (?,?,?,?)" |
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104 |
879 | 105 def insertObjectQuery(): |
106 return "INSERT INTO objects (object_id, road_user_type, n_objects) VALUES (?,?,?)" | |
107 | |
108 def insertObjectFeatureQuery(): | |
109 return "INSERT INTO objects_features (object_id, trajectory_id) VALUES (?,?)" | |
110 | |
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111 def createIndex(connection, tableName, columnName, unique = False): |
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112 '''Creates an index for the column in the table |
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113 I will make querying with a condition on this column faster''' |
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114 try: |
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115 #connection = sqlite3.connect(filename) |
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116 cursor = connection.cursor() |
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117 s = "CREATE " |
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118 if unique: |
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119 s += "UNIQUE " |
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120 cursor.execute(s+"INDEX IF NOT EXISTS "+tableName+"_"+columnName+"_index ON "+tableName+"("+columnName+")") |
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121 connection.commit() |
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122 #connection.close() |
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123 except sqlite3.OperationalError as error: |
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124 printDBError(error) |
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125 |
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126 def getNumberRowsTable(connection, tableName, columnName = None): |
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127 '''Returns the number of rows for the table |
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128 If columnName is not None, means we want the number of distinct values for that column |
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129 (otherwise, we can just count(*))''' |
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130 try: |
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131 cursor = connection.cursor() |
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132 if columnName is None: |
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133 cursor.execute("SELECT COUNT(*) from "+tableName) |
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134 else: |
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135 cursor.execute("SELECT COUNT(DISTINCT "+columnName+") from "+tableName) |
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136 return cursor.fetchone()[0] |
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137 except sqlite3.OperationalError as error: |
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138 printDBError(error) |
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139 |
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140 def getMinMax(connection, tableName, columnName, minmax): |
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141 '''Returns max/min or both for given column in table |
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142 minmax must be string max, min or minmax''' |
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143 try: |
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144 cursor = connection.cursor() |
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145 if minmax == 'min' or minmax == 'max': |
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146 cursor.execute("SELECT "+minmax+"("+columnName+") from "+tableName) |
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147 elif minmax == 'minmax': |
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148 cursor.execute("SELECT MIN("+columnName+"), MAX("+columnName+") from "+tableName) |
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149 else: |
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150 print("Argument minmax unknown: {}".format(minmax)) |
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151 return cursor.fetchone()[0] |
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152 except sqlite3.OperationalError as error: |
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153 printDBError(error) |
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154 |
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155 def loadPrototypeMatchIndexesFromSqlite(filename): |
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156 """ |
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157 This function loads the prototypes table in the database of name <filename>. |
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158 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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159 """ |
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160 matched_indexes = [] |
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161 |
211 | 162 connection = sqlite3.connect(filename) |
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163 cursor = connection.cursor() |
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164 |
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165 try: |
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166 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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167 except sqlite3.OperationalError as error: |
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168 printDBError(error) |
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169 return [] |
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170 |
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171 for row in cursor: |
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172 matched_indexes.append((row[0],row[1])) |
211 | 173 |
174 connection.close() | |
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175 return matched_indexes |
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176 |
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177 def getObjectCriteria(objectNumbers): |
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178 if objectNumbers is None: |
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179 query = '' |
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180 elif type(objectNumbers) == int: |
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181 query = '<= {0}'.format(objectNumbers-1) |
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182 elif type(objectNumbers) == list: |
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183 query = 'in ('+', '.join([str(n) for n in objectNumbers])+')' |
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184 else: |
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185 print('objectNumbers {} are not a known type ({})'.format(objectNumbers, type(objectNumbers))) |
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186 query = '' |
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187 return query |
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188 |
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189 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = None, timeStep = None): |
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190 '''Loads trajectories (in the general sense) from the given table |
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191 can be positions or velocities |
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192 |
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193 returns a moving object''' |
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194 cursor = connection.cursor() |
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195 |
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196 try: |
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197 objectCriteria = getObjectCriteria(objectNumbers) |
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198 queryStatement = None |
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199 if trajectoryType == 'feature': |
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200 queryStatement = 'SELECT * from '+tableName |
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201 if objectNumbers is not None and timeStep is not None: |
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202 queryStatement += ' WHERE trajectory_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep) |
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203 elif objectNumbers is not None: |
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204 queryStatement += ' WHERE trajectory_id '+objectCriteria |
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205 elif timeStep is not None: |
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206 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep) |
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207 queryStatement += ' ORDER BY trajectory_id, frame_number' |
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208 elif trajectoryType == 'object': |
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209 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' |
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210 if objectNumbers is not None: |
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211 queryStatement += ' AND OF.object_id '+objectCriteria |
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212 if timeStep is not None: |
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213 queryStatement += ' AND P.frame_number%{} = 0'.format(timeStep) |
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214 queryStatement += ' GROUP BY OF.object_id, P.frame_number ORDER BY OF.object_id, P.frame_number' |
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215 elif trajectoryType in ['bbtop', 'bbbottom']: |
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216 if trajectoryType == 'bbtop': |
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217 corner = 'top_left' |
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218 elif trajectoryType == 'bbbottom': |
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219 corner = 'bottom_right' |
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220 queryStatement = 'SELECT object_id, frame_number, x_'+corner+', y_'+corner+' FROM '+tableName |
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221 if objectNumbers is not None and timeStep is not None: |
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222 queryStatement += ' WHERE object_id '+objectCriteria+' AND frame_number%{} = 0'.format(timeStep) |
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223 elif objectNumbers is not None: |
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224 queryStatement += ' WHERE object_id '+objectCriteria |
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225 elif timeStep is not None: |
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226 queryStatement += ' WHERE frame_number%{} = 0'.format(timeStep) |
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227 queryStatement += ' ORDER BY object_id, frame_number' |
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228 else: |
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229 print('Unknown trajectory type {}'.format(trajectoryType)) |
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230 if queryStatement is not None: |
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231 cursor.execute(queryStatement) |
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232 logging.debug(queryStatement) |
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233 except sqlite3.OperationalError as error: |
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234 printDBError(error) |
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235 return [] |
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236 |
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237 objId = -1 |
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238 obj = None |
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239 objects = [] |
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240 for row in cursor: |
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241 if row[0] != objId: |
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242 objId = row[0] |
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243 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())): |
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244 objects.append(obj) |
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245 elif obj is not None: |
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246 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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247 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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248 else: |
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249 obj.timeInterval.last = row[1] |
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250 obj.positions.addPositionXY(row[2],row[3]) |
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251 |
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252 if obj is not None and (obj.length() == obj.positions.length() or (timeStep is not None and npceil(obj.length()/timeStep) == obj.positions.length())): |
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253 objects.append(obj) |
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254 elif obj is not None: |
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255 print('Object {} is missing {} positions'.format(obj.getNum(), int(obj.length())-obj.positions.length())) |
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256 |
239
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257 return objects |
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258 |
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259 def loadUserTypesFromTable(cursor, objectNumbers): |
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260 objectCriteria = getObjectCriteria(objectNumbers) |
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261 queryStatement = 'SELECT object_id, road_user_type FROM objects' |
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262 if objectNumbers is not None: |
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263 queryStatement += ' WHERE object_id '+objectCriteria |
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264 cursor.execute(queryStatement) |
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265 userTypes = {} |
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266 for row in cursor: |
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267 userTypes[row[0]] = row[1] |
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268 return userTypes |
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269 |
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270 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = None, withFeatures = False, timeStep = None, tablePrefix = None): |
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271 '''Loads the trajectories (in the general sense, |
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272 either features, objects (feature groups) or bounding box series) |
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273 The number loaded is either the first objectNumbers objects, |
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274 or the indices in objectNumbers from the database''' |
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275 connection = sqlite3.connect(filename) |
239
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276 |
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277 if tablePrefix is None: |
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278 prefix = '' |
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279 else: |
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280 prefix = tablePrefix + '_' |
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281 objects = loadTrajectoriesFromTable(connection, prefix+'positions', trajectoryType, objectNumbers, timeStep) |
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282 objectVelocities = loadTrajectoriesFromTable(connection, prefix+'velocities', trajectoryType, objectNumbers, timeStep) |
239
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283 |
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284 if len(objectVelocities) > 0: |
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285 for o,v in zip(objects, objectVelocities): |
329
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286 if o.getNum() == v.getNum(): |
239
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287 o.velocities = v.positions |
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288 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
239
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289 else: |
329
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290 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
239
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291 |
263
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292 if trajectoryType == 'object': |
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293 cursor = connection.cursor() |
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294 try: |
329
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295 # attribute feature numbers to objects |
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296 queryStatement = 'SELECT trajectory_id, object_id FROM objects_features' |
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297 if objectNumbers is not None: |
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298 queryStatement += ' WHERE object_id '+getObjectCriteria(objectNumbers) |
852
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299 queryStatement += ' ORDER BY object_id' # order is important to group all features per object |
910
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300 logging.debug(queryStatement) |
417
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301 cursor.execute(queryStatement) |
263
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302 |
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303 featureNumbers = {} |
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304 for row in cursor: |
329
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305 objId = row[1] |
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306 if objId not in featureNumbers: |
263
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307 featureNumbers[objId] = [row[0]] |
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308 else: |
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309 featureNumbers[objId].append(row[0]) |
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310 |
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311 for obj in objects: |
329
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312 obj.featureNumbers = featureNumbers[obj.getNum()] |
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313 |
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314 # load userType |
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315 userTypes = loadUserTypesFromTable(cursor, objectNumbers) |
329
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316 for obj in objects: |
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317 obj.userType = userTypes[obj.getNum()] |
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318 |
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319 if withFeatures: |
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320 nFeatures = 0 |
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321 for obj in objects: |
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322 nFeatures = max(nFeatures, max(obj.featureNumbers)) |
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323 features = loadTrajectoriesFromSqlite(filename, 'feature', nFeatures+1, timeStep = timeStep) |
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324 for obj in objects: |
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325 obj.setFeatures(features) |
329
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326 |
342
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327 except sqlite3.OperationalError as error: |
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328 printDBError(error) |
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329 objects = [] |
263
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330 |
143
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331 connection.close() |
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diff
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332 return objects |
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initial commit with non-functional python code for NGSIM
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333 |
910
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334 def loadObjectFeatureFrameNumbers(filename, objectNumbers = None): |
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335 'Loads the feature frame numbers for each object' |
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336 connection = sqlite3.connect(filename) |
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337 cursor = connection.cursor() |
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338 try: |
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339 queryStatement = 'SELECT OF.object_id, TL.trajectory_id, TL.length FROM (SELECT trajectory_id, max(frame_number)-min(frame_number) AS length FROM positions GROUP BY trajectory_id) TL, objects_features OF WHERE TL.trajectory_id = OF.trajectory_id' |
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diff
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340 if objectNumbers is not None: |
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diff
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341 queryStatement += ' AND object_id '+getObjectCriteria(objectNumbers) |
b58a1061a717
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diff
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342 queryStatement += ' ORDER BY OF.object_id, TL.length DESC' |
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diff
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343 logging.debug(queryStatement) |
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344 cursor.execute(queryStatement) |
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345 objectFeatureNumbers = {} |
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diff
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346 for row in cursor: |
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347 objId = row[0] |
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348 if objId in objectFeatureNumbers: |
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349 objectFeatureNumbers[objId].append(row[1]) |
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350 else: |
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351 objectFeatureNumbers[objId] = [row[1]] |
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diff
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352 return objectFeatureNumbers |
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diff
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353 except sqlite3.OperationalError as error: |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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354 printDBError(error) |
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355 return None |
b58a1061a717
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parents:
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diff
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|
356 |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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778
diff
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357 def addCurvilinearTrajectoriesFromSqlite(filename, objects): |
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358 '''Adds curvilinear positions (s_coordinate, y_coordinate, lane) |
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359 from a database to an existing MovingObject dict (indexed by each objects's num)''' |
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diff
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|
360 connection = sqlite3.connect(filename) |
778
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|
361 cursor = connection.cursor() |
bd684e57c431
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362 |
bd684e57c431
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363 try: |
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|
364 cursor.execute('SELECT * from curvilinear_positions order by trajectory_id, frame_number') |
bd684e57c431
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diff
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|
365 except sqlite3.OperationalError as error: |
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366 printDBError(error) |
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367 return [] |
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diff
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|
368 |
784
30bd0f2223b7
tweaking curvilinear trajectory loading
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parents:
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diff
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|
369 missingObjectNumbers = [] |
778
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370 objNum = None |
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|
371 for row in cursor: |
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|
372 if objNum != row[0]: |
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|
373 objNum = row[0] |
784
30bd0f2223b7
tweaking curvilinear trajectory loading
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783
diff
changeset
|
374 if objNum in objects: |
783
f1040d739bbf
added check to avoid issue if there are more cuvilinear trajectories than objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
375 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
f1040d739bbf
added check to avoid issue if there are more cuvilinear trajectories than objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
376 else: |
784
30bd0f2223b7
tweaking curvilinear trajectory loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
377 missingObjectNumbers.append(objNum) |
30bd0f2223b7
tweaking curvilinear trajectory loading
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parents:
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diff
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|
378 if objNum in objects: |
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diff
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|
379 objects[objNum].curvilinearPositions.addPositionSYL(row[2],row[3],row[4]) |
30bd0f2223b7
tweaking curvilinear trajectory loading
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parents:
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diff
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|
380 if len(missingObjectNumbers) > 0: |
30bd0f2223b7
tweaking curvilinear trajectory loading
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diff
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381 print('List of missing objects to attach corresponding curvilinear trajectories: {}'.format(missingObjectNumbers)) |
778
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|
382 |
918
3a06007a4bb7
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383 def saveTrajectoriesToTable(connection, objects, trajectoryType, tablePrefix = None): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
384 'Saves trajectories in table tableName' |
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|
385 cursor = connection.cursor() |
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386 # Parse feature and/or object structure and commit to DB |
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387 if(trajectoryType == 'feature' or trajectoryType == 'object'): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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388 # Extract features from objects |
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389 if trajectoryType == 'object': |
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390 features = [] |
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|
391 for obj in objects: |
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|
392 if obj.hasFeatures(): |
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|
393 features += obj.getFeatures() |
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|
394 if len(features) == 0: |
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395 print('Warning, objects have no features') # todo save centroid trajectories? |
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396 elif trajectoryType == 'feature': |
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|
397 features = objects |
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|
398 # Setup feature queries |
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|
399 if tablePrefix is None: |
3a06007a4bb7
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|
400 prefix = '' |
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|
401 else: |
3a06007a4bb7
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|
402 prefix = tablePrefix+'_' |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
403 createTrajectoryTable(cursor, prefix+"positions") |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
changeset
|
404 createTrajectoryTable(cursor, prefix+"velocities") |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
405 positionQuery = insertTrajectoryQuery(prefix+"positions") |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
406 velocityQuery = insertTrajectoryQuery(prefix+"velocities") |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
407 # Setup object queries |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
408 if trajectoryType == 'object': |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
409 createObjectsTable(cursor) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
410 createObjectsFeaturesTable(cursor) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
411 objectQuery = insertObjectQuery() |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
changeset
|
412 objectFeatureQuery = insertObjectFeatureQuery() |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
413 for feature in features: |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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parents:
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diff
changeset
|
414 num = feature.getNum() |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
415 frameNum = feature.getFirstInstant() |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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parents:
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diff
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|
416 for p in feature.getPositions(): |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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417 cursor.execute(positionQuery, (num, frameNum, p.x, p.y)) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
418 frameNum += 1 |
3a06007a4bb7
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419 velocities = feature.getVelocities() |
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modularized save trajectories, added slice to Trajectory, etc
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|
420 if velocities is not None: |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
421 frameNum = feature.getFirstInstant() |
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diff
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|
422 for v in velocities[:-1]: |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
423 cursor.execute(velocityQuery, (num, frameNum, v.x, v.y)) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
424 frameNum += 1 |
3a06007a4bb7
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diff
changeset
|
425 if trajectoryType == 'object': |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
changeset
|
426 for obj in objects: |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
427 if obj.hasFeatures(): |
3a06007a4bb7
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diff
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|
428 for feature in obj.getFeatures(): |
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changeset
|
429 featureNum = feature.getNum() |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
changeset
|
430 cursor.execute(objectFeatureQuery, (obj.getNum(), featureNum)) |
3a06007a4bb7
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diff
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|
431 cursor.execute(objectQuery, (obj.getNum(), obj.getUserType(), 1)) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
432 # Parse curvilinear position structure |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
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|
433 elif(trajectoryType == 'curvilinear'): |
3a06007a4bb7
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diff
changeset
|
434 createCurvilinearTrajectoryTable(cursor) |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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diff
changeset
|
435 curvilinearQuery = "insert into curvilinear_positions (trajectory_id, frame_number, s_coordinate, y_coordinate, lane) values (?,?,?,?,?)" |
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
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|
436 for obj in objects: |
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|
437 num = obj.getNum() |
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|
438 frameNum = obj.getFirstInstant() |
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diff
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|
439 for p in obj.getCurvilinearPositions(): |
3a06007a4bb7
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|
440 cursor.execute(curvilinearQuery, (num, frameNum, p[0], p[1], p[2])) |
3a06007a4bb7
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|
441 frameNum += 1 |
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442 else: |
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443 print('Unknown trajectory type {}'.format(trajectoryType)) |
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444 connection.commit() |
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|
445 |
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|
446 def saveTrajectoriesToSqlite(outputFilename, objects, trajectoryType): |
829 | 447 '''Writes features, ie the trajectory positions (and velocities if exist) |
778
bd684e57c431
integrated code from Laurent Gauthier
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parents:
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diff
changeset
|
448 with their instants to a specified sqlite file |
780
1b22d81ef5ff
cleaned and checked storage with functions for curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
778
diff
changeset
|
449 Either feature positions (and velocities if they exist) |
879 | 450 or curvilinear positions will be saved at a time''' |
778
bd684e57c431
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
451 |
bd684e57c431
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parents:
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diff
changeset
|
452 connection = sqlite3.connect(outputFilename) |
bd684e57c431
integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
453 try: |
918
3a06007a4bb7
modularized save trajectories, added slice to Trajectory, etc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
917
diff
changeset
|
454 saveTrajectoriesToTable(connection, objects, trajectoryType, None) |
778
bd684e57c431
integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
455 except sqlite3.OperationalError as error: |
bd684e57c431
integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
456 printDBError(error) |
bd684e57c431
integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
457 connection.close() |
bd684e57c431
integrated code from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
777
diff
changeset
|
458 |
834
119c4efe6398
added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
831
diff
changeset
|
459 def loadBBMovingObjectsFromSqlite(filename, objectType = 'bb', objectNumbers = None, timeStep = None): |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
460 '''Loads bounding box moving object from an SQLite |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
461 (format of SQLite output by the ground truth annotation tool |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
462 or Urban Tracker |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
463 |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
464 Load descriptions?''' |
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updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
759
diff
changeset
|
465 connection = sqlite3.connect(filename) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
466 objects = [] |
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updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
467 |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
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parents:
759
diff
changeset
|
468 if objectType == 'bb': |
834
119c4efe6398
added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
831
diff
changeset
|
469 topCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbtop', objectNumbers, timeStep) |
119c4efe6398
added option to load subsampled trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
831
diff
changeset
|
470 bottomCorners = loadTrajectoriesFromTable(connection, 'bounding_boxes', 'bbbottom', objectNumbers, timeStep) |
850
c724a51d4f5f
modified function signature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
849
diff
changeset
|
471 userTypes = loadUserTypesFromTable(connection.cursor(), objectNumbers) # string format is same as object |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
472 |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
473 for t, b in zip(topCorners, bottomCorners): |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
474 num = t.getNum() |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
475 if t.getNum() == b.getNum(): |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
476 annotation = moving.BBMovingObject(num, t.getTimeInterval(), t, b, userTypes[num]) |
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
477 objects.append(annotation) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
478 else: |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
479 print ('Unknown type of bounding box {}'.format(objectType)) |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
480 |
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
481 connection.close() |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
482 return objects |
588
c5406edbcf12
added loading ground truth annotations (ground truth) from polytrack format
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
587
diff
changeset
|
483 |
341
2f39c4ed0b62
first version of indicator saving to sqlite
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parents:
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diff
changeset
|
484 def saveInteraction(cursor, interaction): |
2f39c4ed0b62
first version of indicator saving to sqlite
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parents:
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diff
changeset
|
485 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
343
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parents:
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diff
changeset
|
486 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
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parents:
340
diff
changeset
|
487 |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
488 def saveInteractions(filename, interactions): |
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parents:
335
diff
changeset
|
489 'Saves the interactions in the table' |
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parents:
335
diff
changeset
|
490 connection = sqlite3.connect(filename) |
1046b7346886
work in progress on storing indicator values
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parents:
335
diff
changeset
|
491 cursor = connection.cursor() |
342
4d69486869a5
work on loading indicators
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parents:
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diff
changeset
|
492 try: |
4d69486869a5
work on loading indicators
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parents:
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diff
changeset
|
493 createInteractionTable(cursor) |
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diff
changeset
|
494 for inter in interactions: |
4d69486869a5
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parents:
341
diff
changeset
|
495 saveInteraction(cursor, inter) |
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parents:
341
diff
changeset
|
496 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
497 printDBError(error) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
498 connection.commit() |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
499 connection.close() |
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
500 |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
501 def saveIndicator(cursor, interactionNum, indicator): |
2f39c4ed0b62
first version of indicator saving to sqlite
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parents:
340
diff
changeset
|
502 for instant in indicator.getTimeInterval(): |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
503 if indicator[instant]: |
2f39c4ed0b62
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parents:
340
diff
changeset
|
504 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
|
505 |
343
74e437ab5f11
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
506 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
|
507 'Saves the indicator values in the table' |
1046b7346886
work in progress on storing indicator values
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parents:
335
diff
changeset
|
508 connection = sqlite3.connect(filename) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
509 cursor = connection.cursor() |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
510 try: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
511 createInteractionTable(cursor) |
830
2a5856961933
first working version of feature merging (works with feature grouping)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
829
diff
changeset
|
512 createIndicatorTable(cursor) |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
513 for inter in interactions: |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
514 saveInteraction(cursor, inter) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
515 for indicatorName in indicatorNames: |
4d69486869a5
work on loading indicators
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parents:
341
diff
changeset
|
516 indicator = inter.getIndicator(indicatorName) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
517 if indicator is not None: |
342
4d69486869a5
work on loading indicators
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parents:
341
diff
changeset
|
518 saveIndicator(cursor, inter.getNum(), indicator) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
519 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
520 printDBError(error) |
341
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
521 connection.commit() |
2f39c4ed0b62
first version of indicator saving to sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
340
diff
changeset
|
522 connection.close() |
340
1046b7346886
work in progress on storing indicator values
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
335
diff
changeset
|
523 |
482
f6415f012640
adding functionalities (save images directly to display trajectories to create movies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
417
diff
changeset
|
524 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
|
525 '''Loads interaction and their indicators |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
526 |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
527 TODO choose the interactions to load''' |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
528 interactions = [] |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
529 connection = sqlite3.connect(filename) |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
530 cursor = connection.cursor() |
4d69486869a5
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parents:
341
diff
changeset
|
531 try: |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
532 cursor.execute('select INT.id, INT.object_id1, INT.object_id2, INT.first_frame_number, INT.last_frame_number, IND.indicator_type, IND.frame_number, IND.value from interactions INT, indicators IND WHERE INT.id = IND.interaction_id ORDER BY INT.id, IND.indicator_type, IND.frame_number') |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
533 interactionNum = -1 |
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
534 indicatorTypeNum = -1 |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
535 tmpIndicators = {} |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
536 for row in cursor: |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
537 if row[0] != interactionNum: |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
538 interactionNum = row[0] |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
539 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), row[1], row[2])) |
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
540 interactions[-1].indicators = {} |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
541 if indicatorTypeNum != row[5] or row[0] != interactionNum: |
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
542 indicatorTypeNum = row[5] |
628
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
543 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
977407c9f815
corrected bugs in loading interactions (index shifted) and added functionalities to play/plot interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
619
diff
changeset
|
544 indicatorValues = {row[6]:row[7]} |
695
957126bfb456
corrected bug with indicator loading(also now correctly loading mostsevereismax)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
693
diff
changeset
|
545 interactions[-1].indicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues, mostSevereIsMax = not indicatorName in events.Interaction.timeIndicators) |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
546 else: |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
547 indicatorValues[row[6]] = row[7] |
693
5ee22bf7e4d5
corrected bug when loading indicator time intervals and updated how queries are created for better legibility
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
690
diff
changeset
|
548 interactions[-1].indicators[indicatorName].timeInterval.last = row[6] |
342
4d69486869a5
work on loading indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
341
diff
changeset
|
549 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
550 printDBError(error) |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
551 return [] |
342
4d69486869a5
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parents:
341
diff
changeset
|
552 connection.close() |
343
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
553 return interactions |
74e437ab5f11
first version of indicator loading code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
342
diff
changeset
|
554 # load first and last object instants |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
555 # 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
|
556 |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
557 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
|
558 '''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
|
559 ''' |
12be4a0cb9aa
sql code to create bounding boxes in image space
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parents:
382
diff
changeset
|
560 connection = sqlite3.connect(filename) |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
561 cursor = connection.cursor() |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
562 try: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
563 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
|
564 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
|
565 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
566 '(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])+ |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
567 '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
|
568 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
569 printDBError(error) |
390
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
570 connection.commit() |
12be4a0cb9aa
sql code to create bounding boxes in image space
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
382
diff
changeset
|
571 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
|
572 |
586
ff4f0ce46ca6
modified name for loading bounding boxes (only for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
585
diff
changeset
|
573 def loadBoundingBoxTableForDisplay(filename): |
647
458890c0437c
cleaned functions to lead bounding boxes (for display)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
646
diff
changeset
|
574 '''Loads bounding boxes from bounding_boxes table for display over trajectories''' |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
575 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
|
576 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
|
577 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
|
578 try: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
579 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
768
f8e0a8ea8402
updated the bounding box code (the name so that it is general for ground truth and UT)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
759
diff
changeset
|
580 result = cursor.fetchall() |
393
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
581 if len(result) > 0: |
394
6567fee37c16
renamed table for bounding boxes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
393
diff
changeset
|
582 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
|
583 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
|
584 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
|
585 except sqlite3.OperationalError as error: |
491
343cfd185ca6
minor changes and reaarrangements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
482
diff
changeset
|
586 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
|
587 return boundingBoxes |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
588 connection.close() |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
589 return boundingBoxes |
eaf7765221d9
added code to create bounding boxes and display them (inc scripts)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
390
diff
changeset
|
590 |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
591 ######################### |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
592 # saving and loading for scene interpretation: POIs and Prototypes |
805
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
593 ######################### |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
594 |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
595 def savePrototypesToSqlite(filename, prototypes): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
596 '''save the prototypes (a prototype is defined by a filename, a number and type''' |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
597 connection = sqlite3.connect(filename) |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
598 cursor = connection.cursor() |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
599 try: |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
600 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (dbfilename VARCHAR, id INTEGER, trajectory_type VARCHAR CHECK (trajectory_type IN (\"feature\", \"object\")), nmatchings INTEGER, PRIMARY KEY (id, dbfilename))') |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
601 for p in prototypes: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
602 cursor.execute('INSERT INTO prototypes (dbfilename, id, trajectory_type, nmatchings) VALUES (?,?,?,?)', (p.getFilename(), p.getNum(), p.getTrajectoryType(), p.getNMatchings())) |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
603 except sqlite3.OperationalError as error: |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
604 printDBError(error) |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
605 connection.commit() |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
606 connection.close() |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
607 |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
608 def savePrototypeAssignments(filename, objects): |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
609 pass |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
610 |
920
499154254f37
improved prototype loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
919
diff
changeset
|
611 def loadPrototypesFromSqlite(filename, withTrajectories = True): |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
612 'Loads prototype ids and matchings (if stored)' |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
613 connection = sqlite3.connect(filename) |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
614 cursor = connection.cursor() |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
615 prototypes = [] |
920
499154254f37
improved prototype loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
919
diff
changeset
|
616 objects = [] |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
617 try: |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
618 cursor.execute('SELECT * FROM prototypes') |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
619 for row in cursor: |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
620 prototypes.append(moving.Prototype(row[0], row[1], row[2], row[3])) |
920
499154254f37
improved prototype loading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
919
diff
changeset
|
621 if withTrajectories: |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
622 for p in prototypes: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
623 p.setMovingObject(loadTrajectoriesFromSqlite(p.getFilename(), p.getTrajectoryType(), [p.getNum()])[0]) |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
624 # loadingInformation = {} # complicated slightly optimized |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
625 # for p in prototypes: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
626 # dbfn = p.getFilename() |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
627 # trajType = p.getTrajectoryType() |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
628 # if (dbfn, trajType) in loadingInformation: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
629 # loadingInformation[(dbfn, trajType)].append(p) |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
630 # else: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
631 # loadingInformation[(dbfn, trajType)] = [p] |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
632 # for k, v in loadingInformation.iteritems(): |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
633 # objects += loadTrajectoriesFromSqlite(k[0], k[1], [p.getNum() for p in v]) |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
634 except sqlite3.OperationalError as error: |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
635 printDBError(error) |
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
636 connection.close() |
921
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
637 if len(set([p.getTrajectoryType() for p in prototypes])) > 1: |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
638 print('Different types of prototypes in database ({}).'.format(set([p.getTrajectoryType() for p in prototypes]))) |
630934595871
work in progress with prototype class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
920
diff
changeset
|
639 return prototypes |
917
89cc05867c4c
reorg and work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
915
diff
changeset
|
640 |
805
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
641 def savePOIs(filename, gmm, gmmType, gmmId): |
871
6db83beb5350
work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
862
diff
changeset
|
642 '''Saves a Gaussian mixture model (of class sklearn.mixture.GaussianMixture) |
6db83beb5350
work in progress to update gaussian mixtures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
862
diff
changeset
|
643 gmmType is a type of GaussianMixture, learnt either from beginnings or ends of trajectories''' |
805
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
644 connection = sqlite3.connect(filename) |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
645 cursor = connection.cursor() |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
646 if gmmType not in ['beginning', 'end']: |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
647 print('Unknown POI type {}. Exiting'.format(gmmType)) |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
648 import sys |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
649 sys.exit() |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
650 try: |
872
c70adaeeddf5
solved issue with latest version of scikit-learn
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
871
diff
changeset
|
651 cursor.execute('CREATE TABLE IF NOT EXISTS gaussians2d (poi_id INTEGER, id INTEGER, type VARCHAR, x_center REAL, y_center REAL, covariance VARCHAR, covariance_type VARCHAR, weight, precisions_cholesky VARCHAR, PRIMARY KEY(poi_id, id))') |
805
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
652 for i in xrange(gmm.n_components): |
872
c70adaeeddf5
solved issue with latest version of scikit-learn
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
871
diff
changeset
|
653 cursor.execute('INSERT INTO gaussians2d VALUES({}, {}, \'{}\', {}, {}, \'{}\', \'{}\', {}, \'{}\')'.format(gmmId, i, gmmType, gmm.means_[i][0], gmm.means_[i][1], str(gmm.covariances_[i].tolist()), gmm.covariance_type, gmm.weights_[i], str(gmm.precisions_cholesky_[i].tolist()))) |
805
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
654 connection.commit() |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
655 except sqlite3.OperationalError as error: |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
656 printDBError(error) |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
657 connection.close() |
180b6b0231c0
added saving/loading points of interests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
784
diff
changeset
|
658 |
915
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
659 def savePOIAssignments(filename, objects): |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
660 'save the od fields of objects' |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
661 connection = sqlite3.connect(filename) |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
662 cursor = connection.cursor() |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
663 try: |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
664 cursor.execute('CREATE TABLE IF NOT EXISTS objects_pois (object_id INTEGER, origin_poi_id INTEGER, destination_poi_id INTEGER, PRIMARY KEY(object_id))') |
13434f5017dd
work to save trajectory assignment to origin and destinations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
913
diff
changeset
|
665 for o in objects: |
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666 cursor.execute('INSERT INTO objects_pois VALUES({},{},{})'.format(o.getNum(), o.od[0], o.od[1])) |
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667 connection.commit() |
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668 except sqlite3.OperationalError as error: |
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669 printDBError(error) |
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670 connection.close() |
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671 |
805
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672 def loadPOIs(filename): |
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673 'Loads all 2D Gaussians in the database' |
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674 from sklearn import mixture # todo if not avalaible, load data in duck-typed class with same fields |
872
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675 from ast import literal_eval |
805
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676 connection = sqlite3.connect(filename) |
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677 cursor = connection.cursor() |
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678 pois = [] |
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679 try: |
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680 cursor.execute('SELECT * from gaussians2d') |
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681 gmmId = None |
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682 gmm = [] |
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683 for row in cursor: |
872
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684 if gmmId is None or row[0] != gmmId: |
805
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685 if len(gmm) > 0: |
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686 tmp = mixture.GaussianMixture(len(gmm), covarianceType) |
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687 tmp.means_ = array([gaussian['mean'] for gaussian in gmm]) |
871
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688 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm]) |
805
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689 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm]) |
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690 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm] |
872
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691 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm]) |
805
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692 pois.append(tmp) |
872
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693 gaussian = {'type': row[2], |
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694 'mean': row[3:5], |
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695 'covar': array(literal_eval(row[5])), |
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696 'weight': row[7], |
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697 'precisions': array(literal_eval(row[8]))} |
805
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698 gmm = [gaussian] |
872
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699 covarianceType = row[6] |
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700 gmmId = row[0] |
805
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701 else: |
872
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702 gmm.append({'type': row[2], |
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703 'mean': row[3:5], |
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704 'covar': array(literal_eval(row[5])), |
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705 'weight': row[7], |
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|
706 'precisions': array(literal_eval(row[8]))}) |
805
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707 if len(gmm) > 0: |
871
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diff
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|
708 tmp = mixture.GaussianMixture(len(gmm), covarianceType) |
805
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709 tmp.means_ = array([gaussian['mean'] for gaussian in gmm]) |
871
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710 tmp.covariances_ = array([gaussian['covar'] for gaussian in gmm]) |
805
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711 tmp.weights_ = array([gaussian['weight'] for gaussian in gmm]) |
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712 tmp.gmmTypes = [gaussian['type'] for gaussian in gmm] |
872
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713 tmp.precisions_cholesky_ = array([gaussian['precisions'] for gaussian in gmm]) |
805
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|
714 pois.append(tmp) |
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|
715 except sqlite3.OperationalError as error: |
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716 printDBError(error) |
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|
717 connection.close() |
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|
718 return pois |
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|
719 |
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|
720 ######################### |
736
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diff
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721 # saving and loading for scene interpretation (Mohamed Gomaa Mohamed's PhD) |
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|
722 ######################### |
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|
723 |
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724 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
915
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725 ''' prototype dataset is a dictionary with keys== routes, values== prototypes Ids ''' |
736
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726 connection = sqlite3.connect(outputFilename) |
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727 cursor = connection.cursor() |
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|
728 |
915
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729 cursor.execute('CREATE TABLE IF NOT EXISTS prototypes (prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))') |
736
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|
730 |
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|
731 for route in prototypes.keys(): |
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|
732 if prototypes[route]!=[]: |
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|
733 for i in prototypes[route]: |
915
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|
734 cursor.execute('insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)',(i,route[0],route[1],nMatching[route][i])) |
736
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|
735 |
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|
736 connection.commit() |
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|
737 connection.close() |
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|
738 |
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|
739 def readPrototypesFromSqlite(filename): |
915
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740 ''' |
736
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|
741 This function loads the prototype file in the database |
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|
742 It returns a dictionary for prototypes for each route and nMatching |
915
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|
743 ''' |
736
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|
744 prototypes = {} |
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|
745 nMatching={} |
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|
746 |
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|
747 connection = sqlite3.connect(filename) |
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|
748 cursor = connection.cursor() |
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|
749 |
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|
750 try: |
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changeset
|
751 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') |
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changeset
|
752 except sqlite3.OperationalError as error: |
773
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minor bug and improvements
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768
diff
changeset
|
753 printDBError(error) |
736
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|
754 return [] |
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|
755 |
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|
756 for row in cursor: |
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|
757 route=(row[1],row[2]) |
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|
758 if route not in prototypes.keys(): |
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|
759 prototypes[route]=[] |
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|
760 prototypes[route].append(row[0]) |
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|
761 nMatching[row[0]]=row[3] |
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|
762 |
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|
763 connection.close() |
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changeset
|
764 return prototypes,nMatching |
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|
765 |
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|
766 def writeLabelsToSqlite(labels, outputFilename): |
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|
767 """ labels is a dictionary with keys: routes, values: prototypes Ids |
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|
768 """ |
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changeset
|
769 connection = sqlite3.connect(outputFilename) |
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changeset
|
770 cursor = connection.cursor() |
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diff
changeset
|
771 |
777
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773
diff
changeset
|
772 cursor.execute("CREATE TABLE IF NOT EXISTS labels (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") |
736
967d244968a4
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diff
changeset
|
773 |
967d244968a4
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changeset
|
774 for route in labels.keys(): |
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diff
changeset
|
775 if labels[route]!=[]: |
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changeset
|
776 for i in labels[route]: |
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777 for j in labels[route][i]: |
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778 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) |
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|
779 |
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780 connection.commit() |
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781 connection.close() |
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|
782 |
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|
783 def loadLabelsFromSqlite(filename): |
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784 labels = {} |
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785 |
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|
786 connection = sqlite3.connect(filename) |
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|
787 cursor = connection.cursor() |
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788 |
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789 try: |
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790 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') |
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|
791 except sqlite3.OperationalError as error: |
773
bf4a1790cfac
minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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768
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|
792 printDBError(error) |
736
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|
793 return [] |
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|
794 |
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|
795 for row in cursor: |
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|
796 route=(row[1],row[2]) |
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797 p=row[3] |
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798 if route not in labels.keys(): |
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799 labels[route]={} |
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800 if p not in labels[route].keys(): |
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801 labels[route][p]=[] |
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802 labels[route][p].append(row[0]) |
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|
803 |
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804 connection.close() |
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805 return labels |
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|
806 |
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807 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename): |
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808 """ to match the format of second layer prototypes""" |
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809 connection = sqlite3.connect(outFilename) |
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810 cursor = connection.cursor() |
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811 |
777
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812 cursor.execute("CREATE TABLE IF NOT EXISTS speedprototypes (spdprototype_id INTEGER,prototype_id INTEGER,routeID_start INTEGER, routeID_end INTEGER, nMatching INTEGER, PRIMARY KEY(spdprototype_id))") |
736
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|
813 |
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814 for route in prototypes.keys(): |
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815 if prototypes[route]!={}: |
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816 for i in prototypes[route]: |
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817 if prototypes[route][i]!= []: |
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|
818 for j in prototypes[route][i]: |
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819 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j])) |
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|
820 |
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|
821 connection.commit() |
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|
822 connection.close() |
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|
823 |
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824 def loadSpeedPrototypeFromSqlite(filename): |
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825 """ |
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826 This function loads the prototypes table in the database of name <filename>. |
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|
827 """ |
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828 prototypes = {} |
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|
829 nMatching={} |
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830 connection = sqlite3.connect(filename) |
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|
831 cursor = connection.cursor() |
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|
832 |
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|
833 try: |
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|
834 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching') |
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changeset
|
835 except sqlite3.OperationalError as error: |
773
bf4a1790cfac
minor bug and improvements
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768
diff
changeset
|
836 printDBError(error) |
736
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|
837 return [] |
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|
838 |
967d244968a4
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changeset
|
839 for row in cursor: |
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|
840 route=(row[2],row[3]) |
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|
841 if route not in prototypes.keys(): |
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|
842 prototypes[route]={} |
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|
843 if row[1] not in prototypes[route].keys(): |
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|
844 prototypes[route][row[1]]=[] |
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|
845 prototypes[route][row[1]].append(row[0]) |
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|
846 nMatching[row[0]]=row[4] |
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changeset
|
847 |
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changeset
|
848 connection.close() |
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|
849 return prototypes,nMatching |
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|
850 |
967d244968a4
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changeset
|
851 |
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|
852 def writeRoutesToSqlite(Routes, outputFilename): |
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|
853 """ This function writes the activity path define by start and end IDs""" |
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|
854 connection = sqlite3.connect(outputFilename) |
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|
855 cursor = connection.cursor() |
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changeset
|
856 |
777
ef6dd60be2e1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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773
diff
changeset
|
857 cursor.execute("CREATE TABLE IF NOT EXISTS routes (object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") |
736
967d244968a4
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changeset
|
858 |
967d244968a4
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changeset
|
859 for route in Routes.keys(): |
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changeset
|
860 if Routes[route]!=[]: |
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|
861 for i in Routes[route]: |
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|
862 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) |
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changeset
|
863 |
967d244968a4
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changeset
|
864 connection.commit() |
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changeset
|
865 connection.close() |
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|
866 |
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changeset
|
867 def loadRoutesFromSqlite(filename): |
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|
868 Routes = {} |
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changeset
|
869 |
967d244968a4
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changeset
|
870 connection = sqlite3.connect(filename) |
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changeset
|
871 cursor = connection.cursor() |
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changeset
|
872 |
967d244968a4
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diff
changeset
|
873 try: |
967d244968a4
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changeset
|
874 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') |
967d244968a4
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changeset
|
875 except sqlite3.OperationalError as error: |
773
bf4a1790cfac
minor bug and improvements
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
768
diff
changeset
|
876 printDBError(error) |
736
967d244968a4
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722
diff
changeset
|
877 return [] |
967d244968a4
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diff
changeset
|
878 |
967d244968a4
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changeset
|
879 for row in cursor: |
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changeset
|
880 route=(row[1],row[2]) |
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changeset
|
881 if route not in Routes.keys(): |
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changeset
|
882 Routes[route]=[] |
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changeset
|
883 Routes[route].append(row[0]) |
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diff
changeset
|
884 |
967d244968a4
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changeset
|
885 connection.close() |
967d244968a4
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changeset
|
886 return Routes |
967d244968a4
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diff
changeset
|
887 |
967d244968a4
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changeset
|
888 def setRoutes(filename, objects): |
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changeset
|
889 connection = sqlite3.connect(filename) |
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changeset
|
890 cursor = connection.cursor() |
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changeset
|
891 for obj in objects: |
750
6049e9b6902c
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744
diff
changeset
|
892 cursor.execute('update objects set startRouteID = {} WHERE object_id = {}'.format(obj.startRouteID, obj.getNum())) |
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work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
893 cursor.execute('update objects set endRouteID = {} WHERE object_id = {}'.format(obj.endRouteID, obj.getNum())) |
736
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
894 connection.commit() |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
895 connection.close() |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
896 |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
897 def setRoadUserTypes(filename, objects): |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
898 '''Saves the user types of the objects in the sqlite database stored in filename |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
899 The objects should exist in the objects table''' |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
900 connection = sqlite3.connect(filename) |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
901 cursor = connection.cursor() |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
902 for obj in objects: |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
903 cursor.execute('update objects set road_user_type = {} WHERE object_id = {}'.format(obj.getUserType(), obj.getNum())) |
736
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
904 connection.commit() |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
905 connection.close() |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
906 |
967d244968a4
work in progress on saving/loading prototypes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
722
diff
changeset
|
907 ######################### |
329
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
908 # 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
|
909 ######################### |
a70c205ebdd9
added sqlite code, in particular to load and save road user type
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
327
diff
changeset
|
910 |
525
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
911 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
|
912 '''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
|
913 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
|
914 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
|
915 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
|
916 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
|
917 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
|
918 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
|
919 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
|
920 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
|
921 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
|
922 |
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
|
923 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
|
924 '''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
|
925 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
|
926 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
|
927 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
|
928 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
|
929 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
|
930 |
722
49e99ca34a7d
corrected bugs in old ubc code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
718
diff
changeset
|
931 def getLines(f, delimiterChar = 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
|
932 '''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
|
933 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
|
934 s = readline(f, commentCharacters) |
722
49e99ca34a7d
corrected bugs in old ubc code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
718
diff
changeset
|
935 while len(s) > 0 and s[0] != delimiterChar: |
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
|
936 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
|
937 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
|
938 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
|
939 |
829 | 940 def saveList(filename, l): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
941 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
|
942 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
|
943 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
|
944 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
|
945 |
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
|
946 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
|
947 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
|
948 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
|
949 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
|
950 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
|
951 |
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
|
952 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
|
953 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
|
954 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
|
955 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
|
956 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
|
957 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
|
958 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
959 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
|
960 '''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
|
961 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
962 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
|
963 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
|
964 ''' |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
965 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
|
966 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
|
967 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
|
968 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
969 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
|
970 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
|
971 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
|
972 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
|
973 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
|
974 |
892
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
975 def loadPemsTraffic(filename): |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
976 '''Loads traffic data downloaded from the http://pems.dot.ca.gov clearinghouse |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
977 into pandas dataframe''' |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
978 f = openCheck(filename) |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
979 l = f.readline().strip() |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
980 items = l.split(',') |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
981 headers = ['time', 'station', 'district', 'route', 'direction', 'lanetype', 'length', 'nsamples', 'pctobserved', 'flow', 'occupancy', 'speed', 'delay35', 'delay40', 'delay45', 'delay50', 'delay55', 'delay60'] |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
982 nLanes = (len(items)-len(headers))/3 |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
983 for i in xrange(nLanes): |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
984 headers += ['flow{}'.format(i+1), 'occupancy{}'.format(i+1), 'speed{}'.format(i+1)] |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
985 f.close() |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
986 return read_csv(filename, delimiter = ',', names = headers) |
f766fe0995f4
added function for PeMS data
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
882
diff
changeset
|
987 |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
988 def generatePDLaneColumn(data): |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
989 data['LANE'] = data['LANE\LINK\NO'].astype(str)+'_'+data['LANE\INDEX'].astype(str) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
990 |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
991 def convertTrajectoriesVissimToSqlite(filename): |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
992 '''Relies on a system call to sqlite3 |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
993 sqlite3 [file.sqlite] < import_fzp.sql''' |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
994 sqlScriptFilename = "import_fzp.sql" |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
995 # create sql file |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
996 out = openCheck(sqlScriptFilename, "w") |
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997 out.write(".separator \";\"\n"+ |
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998 "CREATE TABLE IF NOT EXISTS curvilinear_positions (t REAL, trajectory_id INTEGER, link_id INTEGER, lane_id INTEGER, s_coordinate REAL, y_coordinate REAL, speed REAL, PRIMARY KEY (t, trajectory_id));\n"+ |
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999 ".import "+filename+" curvilinear_positions\n"+ |
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1000 "DELETE FROM curvilinear_positions WHERE trajectory_id IS NULL OR trajectory_id = \"NO\";\n") |
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1001 out.close() |
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1002 # system call |
753
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1003 from subprocess import check_call |
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1004 out = openCheck("err.log", "w") |
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switched to subprocess.check_call
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1005 check_call("sqlite3 "+utils.removeExtension(filename)+".sqlite < "+sqlScriptFilename, stderr = out, shell = True) |
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switched to subprocess.check_call
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1006 out.close() |
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1007 shutil.os.remove(sqlScriptFilename) |
750
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1008 |
754
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1009 def loadObjectNumbersInLinkFromVissimFile(filename, linkIds): |
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1010 '''Finds the ids of the objects that go through any of the link in the list linkIds''' |
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1011 connection = sqlite3.connect(filename) |
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1012 cursor = connection.cursor() |
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|
1013 queryStatement = 'SELECT DISTINCT trajectory_id FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+')' |
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|
1014 try: |
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1015 cursor.execute(queryStatement) |
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1016 return [row[0] for row in cursor] |
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1017 except sqlite3.OperationalError as error: |
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1018 printDBError(error) |
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1019 |
759
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added function to count vehicles per VISSIM link
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|
1020 def getNObjectsInLinkFromVissimFile(filename, linkIds): |
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added function to count vehicles per VISSIM link
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1021 '''Returns the number of objects that traveled through the link ids''' |
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1022 connection = sqlite3.connect(filename) |
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diff
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|
1023 cursor = connection.cursor() |
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|
1024 queryStatement = 'SELECT link_id, COUNT(DISTINCT trajectory_id) FROM curvilinear_positions where link_id IN ('+','.join([str(id) for id in linkIds])+') GROUP BY link_id' |
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|
1025 try: |
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diff
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|
1026 cursor.execute(queryStatement) |
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diff
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|
1027 return {row[0]:row[1] for row in cursor} |
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added function to count vehicles per VISSIM link
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diff
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|
1028 except sqlite3.OperationalError as error: |
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diff
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|
1029 printDBError(error) |
754
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1030 |
750
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1031 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, objectNumbers = None, warmUpLastInstant = None, usePandas = False, nDecimals = 2, lowMemory = True): |
525
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first draft of loading from VISSIM file
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1032 '''Reads data from VISSIM .fzp trajectory file |
755
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|
1033 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM (second) |
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diff
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|
1034 for example, there seems to be 10 simulation steps per simulated second in VISSIM, |
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diff
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|
1035 so simulationStepsPerTimeUnit should be 10, |
527
37830a831818
loading from VISSIM trajectory data works
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
526
diff
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|
1036 so that all times correspond to the number of the simulation step (and can be stored as integers) |
660
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corrected impact of warmUpLastInstant
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diff
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|
1037 |
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diff
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|
1038 Objects positions will be considered only after warmUpLastInstant |
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corrected impact of warmUpLastInstant
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diff
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|
1039 (if the object has no such position, it won't be loaded) |
525
7124c7d2a663
first draft of loading from VISSIM file
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diff
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|
1040 |
752
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|
1041 Assumed to be sorted over time |
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|
1042 Warning: if reading from SQLite a limited number of objects, objectNumbers will be the maximum object id''' |
525
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first draft of loading from VISSIM file
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diff
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|
1043 objects = {} # dictionary of objects index by their id |
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diff
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|
1044 |
636
3058e00887bc
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
1045 if usePandas: |
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
1046 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, low_memory = lowMemory) |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1047 generatePDLaneColumn(data) |
642
932f96c89212
added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1048 data['TIME'] = data['$VEHICLE:SIMSEC']*simulationStepsPerTimeUnit |
660
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diff
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|
1049 if warmUpLastInstant is not None: |
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diff
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|
1050 data = data[data['TIME']>=warmUpLastInstant] |
642
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diff
changeset
|
1051 grouped = data.loc[:,['NO','TIME']].groupby(['NO'], as_index = False) |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
1052 instants = grouped['TIME'].agg({'first': npmin, 'last': npmax}) |
642
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added pandas to read vissim fzp (more robust with respect to column names
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
1053 for row_index, row in instants.iterrows(): |
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added pandas to read vissim fzp (more robust with respect to column names
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diff
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|
1054 objNum = int(row['NO']) |
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diff
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|
1055 tmp = data[data['NO'] == objNum] |
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added pandas to read vissim fzp (more robust with respect to column names
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diff
changeset
|
1056 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(row['first'], row['last'])) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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636
diff
changeset
|
1057 # positions should be rounded to nDecimals decimals only |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
1058 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory(S = npround(tmp['POS'].tolist(), nDecimals), Y = npround(tmp['POSLAT'].tolist(), nDecimals), lanes = tmp['LANE'].tolist()) |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
1059 if objectNumbers is not None and objectNumbers > 0 and len(objects) >= objectNumbers: |
752
14963a9c3b09
debug finished
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diff
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|
1060 objects.values() |
636
3058e00887bc
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diff
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|
1061 else: |
750
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diff
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|
1062 if filename.endswith(".fzp"): |
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diff
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|
1063 inputfile = openCheck(filename, quitting = True) |
636
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diff
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|
1064 line = readline(inputfile, '*$') |
750
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diff
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|
1065 while len(line) > 0:#for line in inputfile: |
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diff
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|
1066 data = line.strip().split(';') |
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|
1067 objNum = int(data[1]) |
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|
1068 instant = float(data[0])*simulationStepsPerTimeUnit |
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diff
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|
1069 s = float(data[4]) |
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diff
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|
1070 y = float(data[5]) |
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diff
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|
1071 lane = data[2]+'_'+data[3] |
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|
1072 if objNum not in objects: |
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|
1073 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
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|
1074 if objectNumbers is None or len(objects) < objectNumbers: |
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|
1075 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
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|
1076 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
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|
1077 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
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|
1078 objects[objNum].timeInterval.last = instant |
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|
1079 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
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|
1080 line = readline(inputfile, '*$') |
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|
1081 elif filename.endswith(".sqlite"): |
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|
1082 connection = sqlite3.connect(filename) |
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|
1083 cursor = connection.cursor() |
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|
1084 queryStatement = 'SELECT t, trajectory_id, link_id, lane_id, s_coordinate, y_coordinate FROM curvilinear_positions' |
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|
1085 if objectNumbers is not None: |
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diff
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|
1086 queryStatement += ' WHERE trajectory_id '+getObjectCriteria(objectNumbers) |
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|
1087 queryStatement += ' ORDER BY trajectory_id, t' |
752
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debug finished
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diff
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|
1088 try: |
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diff
changeset
|
1089 cursor.execute(queryStatement) |
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diff
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|
1090 for row in cursor: |
14963a9c3b09
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diff
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|
1091 objNum = row[1] |
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diff
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|
1092 instant = row[0]*simulationStepsPerTimeUnit |
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diff
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|
1093 s = row[4] |
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diff
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|
1094 y = row[5] |
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diff
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|
1095 lane = '{}_{}'.format(row[2], row[3]) |
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diff
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|
1096 if objNum not in objects: |
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diff
changeset
|
1097 if warmUpLastInstant is None or instant >= warmUpLastInstant: |
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diff
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|
1098 if objectNumbers is None or len(objects) < objectNumbers: |
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diff
changeset
|
1099 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
14963a9c3b09
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diff
changeset
|
1100 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
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|
1101 if (warmUpLastInstant is None or instant >= warmUpLastInstant) and objNum in objects: |
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
1102 objects[objNum].timeInterval.last = instant |
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
1103 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
1104 except sqlite3.OperationalError as error: |
14963a9c3b09
debug finished
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
751
diff
changeset
|
1105 printDBError(error) |
750
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
1106 else: |
6049e9b6902c
work in progress storage vissim sqlite
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
744
diff
changeset
|
1107 print("File type of "+filename+" not supported (only .sqlite and .fzp files)") |
751 | 1108 return objects.values() |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1109 |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1110 def selectPDLanes(data, lanes = None): |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1111 '''Selects the subset of data for the right lanes |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1112 |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1113 Lane format is a string 'x_y' where x is link index and y is lane index''' |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1114 if lanes is not None: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1115 if 'LANE' not in data.columns: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1116 generatePDLaneColumn(data) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1117 indices = (data['LANE'] == lanes[0]) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1118 for l in lanes[1:]: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1119 indices = indices | (data['LANE'] == l) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1120 return data[indices] |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1121 else: |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1122 return data |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1123 |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1124 def countStoppedVehiclesVissim(filename, lanes = None, proportionStationaryTime = 0.7): |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1125 '''Counts the number of vehicles stopped for a long time in a VISSIM trajectory file |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1126 and the total number of vehicles |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1127 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1128 Vehicles are considered finally stationary |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1129 if more than proportionStationaryTime of their total time |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1130 If lanes is not None, only the data for the selected lanes will be provided |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1131 (format as string x_y where x is link index and y is lane index)''' |
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1132 if filename.endswith(".fzp"): |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1133 columns = ['NO', '$VEHICLE:SIMSEC', 'POS'] |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1134 if lanes is not None: |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1135 columns += ['LANE\LINK\NO', 'LANE\INDEX'] |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1136 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = columns, low_memory = lowMemory) |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1137 data = selectPDLanes(data, lanes) |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1138 data.sort(['$VEHICLE:SIMSEC'], inplace = True) |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1139 |
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1140 nStationary = 0 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1141 nVehicles = 0 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1142 for name, group in data.groupby(['NO'], sort = False): |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1143 nVehicles += 1 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1144 positions = array(group['POS']) |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1145 diff = positions[1:]-positions[:-1] |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1146 if npsum(diff == 0.) >= proportionStationaryTime*(len(positions)-1): |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1147 nStationary += 1 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1148 elif filename.endswith(".sqlite"): |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1149 # select trajectory_id, t, s_coordinate, speed from curvilinear_positions where trajectory_id between 1860 and 1870 and speed < 0.1 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1150 # pb of the meaning of proportionStationaryTime in arterial network? Why proportion of existence time? |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1151 pass |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1152 else: |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1153 print("File type of "+filename+" not supported (only .sqlite and .fzp files)") |
646
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1154 |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1155 return nStationary, nVehicles |
6680a69d5bf3
added fast function to detect VISSIM simulations with errors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
645
diff
changeset
|
1156 |
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
1157 def countCollisionsVissim(filename, lanes = None, collisionTimeDifference = 0.2, lowMemory = True): |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1158 '''Counts the number of collisions per lane in a VISSIM trajectory file |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1159 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1160 To distinguish between cars passing and collision, |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1161 one checks when the sign of the position difference inverts |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1162 (if the time are closer than collisionTimeDifference) |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1163 If lanes is not None, only the data for the selected lanes will be provided |
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1164 (format as string x_y where x is link index and y is lane index)''' |
718
2cd245cb780d
added option to set low_memory = False for pandas.read_csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
714
diff
changeset
|
1165 data = read_csv(filename, delimiter=';', comment='*', header=0, skiprows = 1, usecols = ['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC', 'NO', 'POS'], low_memory = lowMemory) |
649
df9ddeaee4a6
added ability to select lanes to count collisions or stationary vehicles in VISSIM files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
647
diff
changeset
|
1166 data = selectPDLanes(data, lanes) |
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
1167 data = data.convert_objects(convert_numeric=True) |
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
1168 |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1169 merged = merge(data, data, how='inner', left_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], right_on=['LANE\LINK\NO', 'LANE\INDEX', '$VEHICLE:SIMSEC'], sort = False) |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1170 merged = merged[merged['NO_x']>merged['NO_y']] |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1171 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1172 nCollisions = 0 |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1173 for name, group in merged.groupby(['LANE\LINK\NO', 'LANE\INDEX', 'NO_x', 'NO_y']): |
744
ed6ff2ec0aeb
bug correction from Laurent Gauthier
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
740
diff
changeset
|
1174 diff = group['POS_x']-group['POS_y'] |
704
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
1175 # diff = group['POS_x']-group['POS_y'] # to check the impact of convert_objects and the possibility of using type conversion in read_csv or function to convert strings if any |
f83d125d0c55
cleaning of storage.py and addition of type conversion for VISSIM files (from Laurent Gauthier)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
702
diff
changeset
|
1176 if len(diff) >= 2 and npmin(diff) < 0 and npmax(diff) > 0: |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1177 xidx = diff[diff < 0].argmax() |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1178 yidx = diff[diff > 0].argmin() |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1179 if abs(group.loc[xidx, '$VEHICLE:SIMSEC'] - group.loc[yidx, '$VEHICLE:SIMSEC']) <= collisionTimeDifference: |
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1180 nCollisions += 1 |
756
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1181 |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1182 # select TD1.link_id, TD1.lane_id from temp.diff_positions as TD1, temp.diff_positions as TD2 where TD1.link_id = TD2.link_id and TD1.lane_id = TD2.lane_id and TD1.id1 = TD2.id1 and TD1.id2 = TD2.id2 and TD1.t = TD2.t+0.1 and TD1.diff*TD2.diff < 0; # besoin de faire un group by?? |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1183 # create temp table diff_positions as select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id; |
a73f43aac00e
moved pandas imports, sql in comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
755
diff
changeset
|
1184 # SQL select link_id, lane_id, id1, id2, min(diff), max(diff) from (select CP1.t as t, CP1.link_id as link_id, CP1.lane_id as lane_id, CP1.trajectory_id as id1, CP2.trajectory_id as id2, CP1.s_coordinate - CP2.s_coordinate as diff from curvilinear_positions CP1, curvilinear_positions CP2 where CP1.link_id = CP2.link_id and CP1.lane_id = CP2.lane_id and CP1.t = CP2.t and CP1.trajectory_id > CP2.trajectory_id) group by link_id, lane_id, id1, id2 having min(diff)*max(diff) < 0 |
645
5ed2118c959d
added function to count collisions in vissim
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
643
diff
changeset
|
1185 return nCollisions |
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
1186 |
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
changeset
|
1187 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
|
1188 '''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
|
1189 and returns the list of Feature objects''' |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1190 objects = [] |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1191 |
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
|
1192 inputfile = openCheck(filename, quitting = True) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1193 |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1194 def createObject(numbers): |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1195 firstFrameNum = int(numbers[1]) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1196 # do the geometry and usertype |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1197 |
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
|
1198 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
|
1199 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
|
1200 #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
|
1201 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
|
1202 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
|
1203 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
|
1204 userType = int(numbers[10])) |
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1205 obj.userType = int(numbers[10]) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1206 obj.laneNums = [int(numbers[13])] |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1207 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
|
1208 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
|
1209 obj.spaceHeadways = [float(numbers[16])] # feet |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1210 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
|
1211 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
|
1212 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
|
1213 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
|
1214 return obj |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1215 |
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
|
1216 numbers = readline(inputfile).strip().split() |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1217 if (len(numbers) > 0): |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1218 obj = createObject(numbers) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1219 |
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
|
1220 for line in inputfile: |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1221 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
|
1222 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
|
1223 # 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
|
1224 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
|
1225 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
|
1226 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
|
1227 #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
|
1228 objects.append(obj) |
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1229 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
|
1230 break |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1231 obj = createObject(numbers) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1232 else: |
327
42f2b46ec210
added class for trajectories in curvilinear coordinates
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
326
diff
changeset
|
1233 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
|
1234 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
|
1235 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
|
1236 obj.speeds.append(float(numbers[11])) |
78
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1237 obj.precedingVehicles.append(int(numbers[14])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1238 obj.followingVehicles.append(int(numbers[15])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1239 obj.spaceHeadways.append(float(numbers[16])) |
99e807c29753
added loading other information from NGSIM
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
72
diff
changeset
|
1240 obj.timeHeadways.append(float(numbers[17])) |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1241 |
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
|
1242 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
|
1243 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
|
1244 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
|
1245 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
|
1246 |
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
|
1247 inputfile.close() |
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
1248 return objects |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1249 |
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
|
1250 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
|
1251 '''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
|
1252 and converts to our current format.''' |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1253 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
|
1254 out = openCheck(outputfile,'a') |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1255 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
|
1256 out = openCheck(outputfile,'w') |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1257 nObjectsPerType = [0,0,0] |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1258 |
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
|
1259 features = loadNgsimFile(inputfile, sequenceNum) |
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1260 for f in features: |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1261 nObjectsPerType[f.userType-1] += 1 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1262 f.write(out) |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1263 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1264 print nObjectsPerType |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1265 |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1266 out.close() |
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
1267 |
895
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1268 def loadPinholeCameraModel(filename, tanalystFormat = True): |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1269 '''Loads the data from a file containing the camera parameters |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1270 (pinhole camera model, http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1271 and returns a dictionary''' |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1272 if tanalystFormat: |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1273 f = openCheck(filename, quitting = True) |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1274 content = getLines(f) |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1275 cameraData = {} |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1276 for l in content: |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1277 tmp = l.split(':') |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1278 cameraData[tmp[0]] = float(tmp[1].strip().replace(',','.')) |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1279 return cameraData |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1280 else: |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1281 print('Unknown camera model (not tanalyst format') |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1282 return None |
739acd338cc0
added script to extract camera info from tacal file by Lund University (T analyst)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
893
diff
changeset
|
1283 |
829 | 1284 def savePositionsToCsv(f, obj): |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1285 timeInterval = obj.getTimeInterval() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1286 positions = obj.getPositions() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1287 curvilinearPositions = obj.getCurvilinearPositions() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1288 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
|
1289 p1 = positions[i] |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1290 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
636
3058e00887bc
removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
628
diff
changeset
|
1291 if curvilinearPositions is not None: |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1292 p2 = curvilinearPositions[i] |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1293 s += ',{},{}'.format(p2[0],p2[1]) |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1294 f.write(s+'\n') |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1295 |
829 | 1296 def saveTrajectoriesToCsv(filename, objects): |
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
1297 f = openCheck(filename, 'w') |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1298 for i,obj in enumerate(objects): |
829 | 1299 savePositionsToCsv(f, obj) |
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1300 f.close() |
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
1301 |
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
|
1302 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1303 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1304 # 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
|
1305 ######################### |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1306 |
812
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1307 class ClassifierParameters(VideoFilenameAddable): |
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parents:
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diff
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|
1308 'Class for the parameters of object classifiers' |
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diff
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|
1309 def loadConfigFile(self, filename): |
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diff
changeset
|
1310 from ConfigParser import ConfigParser |
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parents:
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diff
changeset
|
1311 |
21f10332c72b
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805
diff
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|
1312 config = ConfigParser() |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
1313 config.readfp(FakeSecHead(openCheck(filename))) |
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diff
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|
1314 self.sectionHeader = config.sections()[0] |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
1315 |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1316 self.pedBikeCarSVMFilename = config.get(self.sectionHeader, 'pbv-svm-filename') |
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diff
changeset
|
1317 self.bikeCarSVMFilename = config.get(self.sectionHeader, 'bv-svm-filename') |
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diff
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|
1318 self.percentIncreaseCrop = config.getfloat(self.sectionHeader, 'percent-increase-crop') |
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diff
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|
1319 self.minNPixels = config.getint(self.sectionHeader, 'min-npixels-crop') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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805
diff
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|
1320 x = config.getint(self.sectionHeader, 'hog-rescale-size') |
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805
diff
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|
1321 self.hogRescaleSize = (x, x) |
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diff
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|
1322 self.hogNOrientations = config.getint(self.sectionHeader, 'hog-norientations') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
1323 x = config.getint(self.sectionHeader, 'hog-npixels-cell') |
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|
1324 self.hogNPixelsPerCell = (x, x) |
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|
1325 x = config.getint(self.sectionHeader, 'hog-ncells-block') |
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|
1326 self.hogNCellsPerBlock = (x, x) |
893
ff92801e5c54
updated hog to scikit-image 0.13 (needed to add a block_norm attribute in classifier.cfg)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
892
diff
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|
1327 self.hogBlockNorm = config.get(self.sectionHeader, 'hog-block-norm') |
812
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|
1328 |
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|
1329 self.speedAggregationMethod = config.get(self.sectionHeader, 'speed-aggregation-method') |
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|
1330 self.nFramesIgnoreAtEnds = config.getint(self.sectionHeader, 'nframes-ignore-at-ends') |
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|
1331 self.speedAggregationQuantile = config.getint(self.sectionHeader, 'speed-aggregation-quantile') |
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|
1332 self.minSpeedEquiprobable = config.getfloat(self.sectionHeader, 'min-speed-equiprobable') |
899
1466a63dd1cf
added a new classification parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
895
diff
changeset
|
1333 self.maxPercentUnknown = config.getfloat(self.sectionHeader, 'max-prop-unknown-appearance') |
812
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
1334 self.maxPedestrianSpeed = config.getfloat(self.sectionHeader, 'max-ped-speed') |
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diff
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|
1335 self.maxCyclistSpeed = config.getfloat(self.sectionHeader, 'max-cyc-speed') |
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|
1336 self.meanPedestrianSpeed = config.getfloat(self.sectionHeader, 'mean-ped-speed') |
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|
1337 self.stdPedestrianSpeed = config.getfloat(self.sectionHeader, 'std-ped-speed') |
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diff
changeset
|
1338 self.locationCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-loc') |
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diff
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|
1339 self.scaleCyclistSpeed = config.getfloat(self.sectionHeader, 'cyc-speed-scale') |
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diff
changeset
|
1340 self.meanVehicleSpeed = config.getfloat(self.sectionHeader, 'mean-veh-speed') |
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diff
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|
1341 self.stdVehicleSpeed = config.getfloat(self.sectionHeader, 'std-veh-speed') |
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diff
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|
1342 |
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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|
1343 def __init__(self, filename = None): |
813
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avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
|
1344 if filename is not None and path.exists(filename): |
812
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
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|
1345 self.loadConfigFile(filename) |
813
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avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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812
diff
changeset
|
1346 else: |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
|
1347 print('Configuration filename {} could not be loaded.'.format(filename)) |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1348 |
21f10332c72b
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parents:
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diff
changeset
|
1349 def convertToFrames(self, frameRate, speedRatio = 3.6): |
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diff
changeset
|
1350 '''Converts parameters with a relationship to time in 'native' frame time |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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805
diff
changeset
|
1351 speedRatio is the conversion from the speed unit in the config file |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1352 to the distance per second |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
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diff
changeset
|
1353 |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1354 ie param(config file) = speedRatio x fps x param(used in program) |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1355 eg km/h = 3.6 (m/s to km/h) x frame/s x m/frame''' |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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805
diff
changeset
|
1356 denominator = frameRate*speedRatio |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1357 #denominator2 = denominator**2 |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1358 self.minSpeedEquiprobable = self.minSpeedEquiprobable/denominator |
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1359 self.maxPedestrianSpeed = self.maxPedestrianSpeed/denominator |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1360 self.maxCyclistSpeed = self.maxCyclistSpeed/denominator |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1361 self.meanPedestrianSpeed = self.meanPedestrianSpeed/denominator |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1362 self.stdPedestrianSpeed = self.stdPedestrianSpeed/denominator |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1363 self.meanVehicleSpeed = self.meanVehicleSpeed/denominator |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1364 self.stdVehicleSpeed = self.stdVehicleSpeed/denominator |
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1365 # special case for the lognormal distribution |
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1366 self.locationCyclistSpeed = self.locationCyclistSpeed-log(denominator) |
854
33d296984dd8
rework and more info on speed probabilities for classification
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
852
diff
changeset
|
1367 #self.scaleCyclistSpeed = self.scaleCyclistSpeed # no modification of scale |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1368 |
21f10332c72b
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1369 |
664
455f9b93819c
added capability to set a videofilename to movingobject and interaction, renames interactiontype to collision in interaction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
660
diff
changeset
|
1370 class ProcessParameters(VideoFilenameAddable): |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
1371 '''Class for all parameters controlling data processing: input, |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1372 method parameters, etc. for tracking and safety |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1373 |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1374 Note: framerate is already taken into account''' |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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491
diff
changeset
|
1375 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1376 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:
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diff
changeset
|
1377 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:
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diff
changeset
|
1378 |
935430b1d408
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parents:
491
diff
changeset
|
1379 config = ConfigParser() |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1380 config.readfp(FakeSecHead(openCheck(filename))) |
861
f9c9457b60c2
modification of storage of intrinsic camera and distortion parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
854
diff
changeset
|
1381 |
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
|
1382 self.sectionHeader = config.sections()[0] |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
1383 # 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>
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diff
changeset
|
1384 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
1385 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1386 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
882
4749b71aa7fb
corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
1387 if path.exists(self.homographyFilename): |
4749b71aa7fb
corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
1388 self.homography = loadtxt(self.homographyFilename) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1389 else: |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1390 self.homography = None |
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
1391 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
882
4749b71aa7fb
corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
1392 if path.exists(self.intrinsicCameraFilename): |
4749b71aa7fb
corrected bugs in storage.py when having configuration files and other files in different directories: everything should be relative to directory of command line when running the program (see FAQ)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
880
diff
changeset
|
1393 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1394 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
|
1395 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
|
1396 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
935430b1d408
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1397 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:
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diff
changeset
|
1398 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
|
1399 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
|
1400 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
|
1401 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
377 | 1402 |
812
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1403 self.classifierFilename = config.get(self.sectionHeader, 'classifier-filename') |
21f10332c72b
moved the classification parameters from tracking.cfg to a new classifier.cfg and made all classification parameters apparent
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
805
diff
changeset
|
1404 |
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
1405 # 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
|
1406 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
|
1407 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
|
1408 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
|
1409 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
|
1410 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
|
1411 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
|
1412 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
|
1413 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
|
1414 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
|
1415 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
|
1416 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
|
1417 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
|
1418 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1419 def __init__(self, filename = None): |
813
ef8795dba5ed
avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
|
1420 if filename is not None and path.exists(filename): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1421 self.loadConfigFile(filename) |
813
ef8795dba5ed
avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
|
1422 else: |
ef8795dba5ed
avoid crash for missing configuration filename
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
812
diff
changeset
|
1423 print('Configuration filename {} could not be loaded.'.format(filename)) |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1424 |
901
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1425 def processVideoArguments(args): |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1426 '''Loads information from configuration file |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1427 then checks what was passed on the command line |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1428 for override (eg video filename and database filename''' |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1429 if args.configFilename is not None: # consider there is a configuration file |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1430 params = ProcessParameters(args.configFilename) |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1431 videoFilename = params.videoFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1432 databaseFilename = params.databaseFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1433 if params.homography is not None: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1434 invHomography = linalg.inv(params.homography) |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1435 else: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1436 invHomography = None |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1437 intrinsicCameraMatrix = params.intrinsicCameraMatrix |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1438 distortionCoefficients = params.distortionCoefficients |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1439 undistortedImageMultiplication = params.undistortedImageMultiplication |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1440 undistort = params.undistort |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1441 firstFrameNum = params.firstFrameNum |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1442 else: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1443 invHomography = None |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1444 undistort = False |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1445 intrinsicCameraMatrix = None |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1446 distortionCoefficients = [] |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1447 undistortedImageMultiplication = None |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1448 undistort = False |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1449 firstFrameNum = 0 |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1450 |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1451 # override video and database filenames if present on command line |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1452 if args.videoFilename is not None: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1453 videoFilename = args.videoFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1454 else: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1455 videoFilename = params.videoFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1456 if args.databaseFilename is not None: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1457 databaseFilename = args.databaseFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1458 else: |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1459 databaseFilename = params.databaseFilename |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1460 |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1461 return params, videoFilename, databaseFilename, invHomography, intrinsicCameraMatrix, distortionCoefficients, undistortedImageMultiplication, undistort, firstFrameNum |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1462 |
753a081989e2
factorized some argument handling code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
899
diff
changeset
|
1463 # deprecated |
665
15e244d2a1b5
corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
664
diff
changeset
|
1464 class SceneParameters(object): |
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1465 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
|
1466 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
|
1467 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
|
1468 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
|
1469 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
|
1470 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
|
1471 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
|
1472 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
|
1473 self.videoFilename = config.get(sectionName, 'video-filename') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1474 self.frameRate = config.getfloat(sectionName, 'framerate') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1475 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1476 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1477 self.rotation = config.getfloat(sectionName, 'rotation') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1478 self.duration = config.getint(sectionName, 'duration') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1479 except NoOptionError as e: |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1480 print(e) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1481 print('Not a section for scene meta-data') |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1482 |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1483 @staticmethod |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1484 def loadConfigFile(filename): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1485 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
|
1486 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
|
1487 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
|
1488 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
|
1489 for sectionName in config.sections(): |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1490 configDict[sectionName] = SceneParameters(config, sectionName) |
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
1491 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
|
1492 |
382
ba813f148ade
development for clustering
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
377
diff
changeset
|
1493 |
215
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
1494 if __name__ == "__main__": |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
1495 import doctest |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
1496 import unittest |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
1497 suite = doctest.DocFileSuite('tests/storage.txt') |
5e2983b05d4e
created first doctest tests for storage
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
212
diff
changeset
|
1498 unittest.TextTestRunner().run(suite) |
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
1499 # #doctest.testmod() |
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
1500 # #doctest.testfile("example.txt") |