Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 607:84690dfe5560
add some functions for behaviour analysis
| author | MohamedGomaa |
|---|---|
| date | Tue, 25 Nov 2014 22:49:47 -0500 |
| parents | 36605d843be5 |
| children | 0954aaf28231 |
| rev | line source |
|---|---|
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1 #! /usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 '''Various utilities to save and load data''' |
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4 |
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5 import utils, moving, events, indicators |
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6 |
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7 import sqlite3, logging |
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8 |
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9 __metaclass__ = type |
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10 |
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11 |
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12 commentChar = '#' |
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13 |
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14 delimiterChar = '%'; |
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15 |
| 50 | 16 ngsimUserTypes = {'twowheels':1, |
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17 'car':2, |
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18 'truck':3} |
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19 |
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20 ######################### |
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21 # Sqlite |
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22 ######################### |
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23 |
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24 # utils |
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25 def printDBError(error): |
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26 print('DB Error: {}'.format(error)) |
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27 |
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28 def dropTables(connection, tableNames): |
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29 'deletes the table with names in tableNames' |
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30 try: |
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31 cursor = connection.cursor() |
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32 for tableName in tableNames: |
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33 cursor.execute('DROP TABLE IF EXISTS '+tableName) |
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34 except sqlite3.OperationalError as error: |
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35 printDBError(error) |
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36 |
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37 # IO to sqlite |
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38 def writeTrajectoriesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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39 """ |
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40 This function writers trajectories to a specified sqlite file |
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41 @param[in] objects -> a list of trajectories |
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42 @param[in] trajectoryType - |
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43 @param[out] outputFilename -> the .sqlite file containting the written objects |
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44 @param[in] objectNumber : number of objects loaded |
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45 """ |
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46 connection = sqlite3.connect(outputFilename) |
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47 cursor = connection.cursor() |
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48 |
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49 schema = "CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))" |
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50 cursor.execute(schema) |
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51 |
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52 trajectory_id = 0 |
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53 frame_number = 0 |
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54 if trajectoryType == 'feature': |
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55 if type(objectNumbers) == int and objectNumbers == -1: |
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56 for trajectory in objects: |
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57 trajectory_id += 1 |
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58 frame_number = 0 |
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59 for position in trajectory.getPositions(): |
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60 frame_number += 1 |
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61 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)" |
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62 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y)) |
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63 |
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64 connection.commit() |
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65 connection.close() |
| 546 | 66 |
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67 def writeFeaturesToSqlite(objects, outputFilename, trajectoryType, objectNumbers = -1): |
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68 '''write features trajectories maintain trajectory ID,velocities dataset ''' |
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69 connection = sqlite3.connect(outputFilename) |
| 546 | 70 cursor = connection.cursor() |
| 71 | |
| 72 cursor.execute("CREATE TABLE IF NOT EXISTS \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
| 73 cursor.execute("CREATE TABLE IF NOT EXISTS \"velocities\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))") | |
| 74 | |
| 75 if trajectoryType == 'feature': | |
| 76 if type(objectNumbers) == int and objectNumbers == -1: | |
| 77 for trajectory in objects: | |
| 78 trajectory_id = trajectory.num | |
| 79 frame_number = trajectory.timeInterval.first | |
| 80 for position,velocity in zip(trajectory.getPositions(),trajectory.getVelocities()): | |
| 81 cursor.execute("insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,position.x,position.y)) | |
| 82 cursor.execute("insert into velocities (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)",(trajectory_id,frame_number,velocity.x,velocity.y)) | |
| 83 frame_number += 1 | |
| 84 | |
| 85 connection.commit() | |
| 86 connection.close() | |
| 87 | |
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88 def writePrototypesToSqlite(prototypes,nMatching, outputFilename): |
| 546 | 89 """ prototype dataset is a dictionary with keys== routes, values== prototypes Ids """ |
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90 connection = sqlite3.connect(outputFilename) |
| 546 | 91 cursor = connection.cursor() |
| 92 | |
| 93 cursor.execute("CREATE TABLE IF NOT EXISTS \"prototypes\"(prototype_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, nMatching INTEGER, PRIMARY KEY(prototype_id))") | |
| 94 | |
| 95 for route in prototypes.keys(): | |
| 96 if prototypes[route]!=[]: | |
| 97 for i in prototypes[route]: | |
| 98 cursor.execute("insert into prototypes (prototype_id, routeIDstart,routeIDend, nMatching) values (?,?,?,?)",(i,route[0],route[1],nMatching[route][i])) | |
| 99 | |
| 100 connection.commit() | |
| 101 connection.close() | |
| 102 | |
| 103 def loadPrototypesFromSqlite(filename): | |
| 104 """ | |
| 105 This function loads the prototype file in the database | |
| 106 It returns a dictionary for prototypes for each route and nMatching | |
| 107 """ | |
| 108 prototypes = {} | |
| 109 nMatching={} | |
| 110 | |
| 111 connection = sqlite3.connect(filename) | |
| 112 cursor = connection.cursor() | |
| 113 | |
| 114 try: | |
| 115 cursor.execute('SELECT * from prototypes order by prototype_id, routeIDstart,routeIDend, nMatching') | |
| 116 except sqlite3.OperationalError as error: | |
| 117 utils.printDBError(error) | |
| 118 return [] | |
| 119 | |
| 120 for row in cursor: | |
| 121 route=(row[1],row[2]) | |
| 122 if route not in prototypes.keys(): | |
| 123 prototypes[route]=[] | |
| 124 prototypes[route].append(row[0]) | |
| 125 nMatching[row[0]]=row[3] | |
| 126 | |
| 127 connection.close() | |
| 128 return prototypes,nMatching | |
| 129 | |
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130 def writeLabelsToSqlite(labels, outputFilename): |
| 546 | 131 """ labels is a dictionary with keys: routes, values: prototypes Ids |
| 132 """ | |
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133 connection = sqlite3.connect(outputFilename) |
| 546 | 134 cursor = connection.cursor() |
| 135 | |
| 136 cursor.execute("CREATE TABLE IF NOT EXISTS \"labels\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, prototype_id INTEGER, PRIMARY KEY(object_id))") | |
| 137 | |
| 138 for route in labels.keys(): | |
| 139 if labels[route]!=[]: | |
| 140 for i in labels[route]: | |
| 141 for j in labels[route][i]: | |
| 142 cursor.execute("insert into labels (object_id, routeIDstart,routeIDend, prototype_id) values (?,?,?,?)",(j,route[0],route[1],i)) | |
| 143 | |
| 144 connection.commit() | |
| 145 connection.close() | |
| 146 | |
| 147 def loadLabelsFromSqlite(filename): | |
| 148 labels = {} | |
| 149 | |
| 150 connection = sqlite3.connect(filename) | |
| 151 cursor = connection.cursor() | |
| 152 | |
| 153 try: | |
| 154 cursor.execute('SELECT * from labels order by object_id, routeIDstart,routeIDend, prototype_id') | |
| 155 except sqlite3.OperationalError as error: | |
| 156 utils.printDBError(error) | |
| 157 return [] | |
| 158 | |
| 159 for row in cursor: | |
| 160 route=(row[1],row[2]) | |
| 161 p=row[3] | |
| 162 if route not in labels.keys(): | |
| 163 labels[route]={} | |
| 164 if p not in labels[route].keys(): | |
| 165 labels[route][p]=[] | |
| 166 labels[route][p].append(row[0]) | |
| 167 | |
| 168 connection.close() | |
| 169 return labels | |
| 607 | 170 def writeSpeedPrototypeToSqlite(prototypes,nmatching, outFilename): |
| 171 """ to match the format of second layer prototypes""" | |
| 172 connection = sqlite3.connect(outFilename) | |
| 173 cursor = connection.cursor() | |
| 174 | |
| 175 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))") | |
| 176 | |
| 177 for route in prototypes.keys(): | |
| 178 if prototypes[route]!={}: | |
| 179 for i in prototypes[route]: | |
| 180 if prototypes[route][i]!= []: | |
| 181 for j in prototypes[route][i]: | |
| 182 cursor.execute("insert into speedprototypes (spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching) values (?,?,?,?,?)",(j,i,route[0],route[1],nmatching[j])) | |
| 183 | |
| 184 connection.commit() | |
| 185 connection.close() | |
| 186 | |
| 187 def loadSpeedPrototypeFromSqlite(filename): | |
| 188 """ | |
| 189 This function loads the prototypes table in the database of name <filename>. | |
| 190 """ | |
| 191 prototypes = {} | |
| 192 nMatching={} | |
| 193 connection = sqlite3.connect(filename) | |
| 194 cursor = connection.cursor() | |
| 195 | |
| 196 try: | |
| 197 cursor.execute('SELECT * from speedprototypes order by spdprototype_id,prototype_id, routeID_start, routeID_end, nMatching') | |
| 198 except sqlite3.OperationalError as error: | |
| 199 utils.printDBError(error) | |
| 200 return [] | |
| 201 | |
| 202 for row in cursor: | |
| 203 route=(row[2],row[3]) | |
| 204 if route not in prototypes.keys(): | |
| 205 prototypes[route]={} | |
| 206 if row[1] not in prototypes[route].keys(): | |
| 207 prototypes[route][row[1]]=[] | |
| 208 prototypes[route][row[1]].append(row[0]) | |
| 209 nMatching[row[0]]=row[4] | |
| 210 | |
| 211 connection.close() | |
| 212 return prototypes,nMatching | |
| 213 | |
| 546 | 214 |
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215 def writeRoutesToSqlite(Routes, outputFilename): |
| 546 | 216 """ This function writes the activity path define by start and end IDs""" |
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217 connection = sqlite3.connect(outputFilename) |
| 546 | 218 cursor = connection.cursor() |
| 219 | |
| 220 cursor.execute("CREATE TABLE IF NOT EXISTS \"routes\"(object_id INTEGER,routeIDstart INTEGER,routeIDend INTEGER, PRIMARY KEY(object_id))") | |
| 221 | |
| 222 for route in Routes.keys(): | |
| 223 if Routes[route]!=[]: | |
| 224 for i in Routes[route]: | |
| 225 cursor.execute("insert into routes (object_id, routeIDstart,routeIDend) values (?,?,?)",(i,route[0],route[1])) | |
| 226 | |
| 227 connection.commit() | |
| 228 connection.close() | |
| 229 | |
| 230 def loadRoutesFromSqlite(filename): | |
| 231 Routes = {} | |
| 232 | |
| 233 connection = sqlite3.connect(filename) | |
| 234 cursor = connection.cursor() | |
| 235 | |
| 236 try: | |
| 237 cursor.execute('SELECT * from routes order by object_id, routeIDstart,routeIDend') | |
| 238 except sqlite3.OperationalError as error: | |
| 239 utils.printDBError(error) | |
| 240 return [] | |
| 241 | |
| 242 for row in cursor: | |
| 243 route=(row[1],row[2]) | |
| 244 if route not in Routes.keys(): | |
| 245 Routes[route]=[] | |
| 246 Routes[route].append(row[0]) | |
| 247 | |
| 248 connection.close() | |
| 249 return Routes | |
| 250 | |
| 251 def setRoutes(filename, objects): | |
| 252 connection = sqlite3.connect(filename) | |
| 253 cursor = connection.cursor() | |
| 254 for obj in objects: | |
| 255 cursor.execute('update objects set startRouteID = {} where object_id = {}'.format(obj.startRouteID, obj.getNum())) | |
| 256 cursor.execute('update objects set endRouteID = {} where object_id = {}'.format(obj.endRouteID, obj.getNum())) | |
| 257 connection.commit() | |
| 258 connection.close() | |
|
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259 |
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260 def setRoadUserTypes(filename, objects): |
|
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261 '''Saves the user types of the objects in the sqlite database stored in filename |
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262 The objects should exist in the objects table''' |
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263 connection = sqlite3.connect(filename) |
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264 cursor = connection.cursor() |
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265 for obj in objects: |
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266 cursor.execute('update objects set road_user_type = {} where object_id = {}'.format(obj.getUserType(), obj.getNum())) |
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267 connection.commit() |
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268 connection.close() |
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269 |
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270 def loadPrototypeMatchIndexesFromSqlite(filename): |
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271 """ |
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272 This function loads the prototypes table in the database of name <filename>. |
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273 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...] |
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274 """ |
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275 matched_indexes = [] |
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276 |
| 211 | 277 connection = sqlite3.connect(filename) |
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278 cursor = connection.cursor() |
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279 |
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280 try: |
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281 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched') |
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282 except sqlite3.OperationalError as error: |
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283 printDBError(error) |
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284 return [] |
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285 |
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286 for row in cursor: |
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287 matched_indexes.append((row[0],row[1])) |
| 211 | 288 |
| 289 connection.close() | |
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290 return matched_indexes |
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291 |
|
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292 def getTrajectoryIdQuery(objectNumbers, trajectoryType): |
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293 if trajectoryType == 'feature': |
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294 statementBeginning = 'where trajectory_id ' |
|
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295 elif trajectoryType == 'object': |
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296 statementBeginning = 'and OF.object_id ' |
|
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297 else: |
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298 print('no trajectory type was chosen') |
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299 |
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300 if type(objectNumbers) == int: |
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301 if objectNumbers == -1: |
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302 query = '' |
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303 else: |
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304 query = statementBeginning+'between 0 and {0} '.format(objectNumbers) |
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305 elif type(objectNumbers) == list: |
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306 query = statementBeginning+'in ('+', '.join([str(n) for n in objectNumbers])+') ' |
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307 return query |
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308 |
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309 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1): |
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310 '''Loads trajectories (in the general sense) from the given table |
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311 can be positions or velocities |
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312 |
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313 returns a moving object''' |
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314 cursor = connection.cursor() |
|
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315 |
|
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316 try: |
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317 if trajectoryType == 'feature': |
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318 trajectoryIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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319 queryStatement = 'SELECT * from '+tableName+' '+trajectoryIdQuery+'order by trajectory_id, frame_number' |
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320 cursor.execute(queryStatement) |
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321 logging.debug(queryStatement) |
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322 elif trajectoryType == 'object': |
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323 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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324 queryStatement = 'SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from '+tableName+' P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by OF.object_id, P.frame_number order by OF.object_id, P.frame_number' |
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325 cursor.execute(queryStatement) |
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326 logging.debug(queryStatement) |
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327 else: |
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328 print('no trajectory type was chosen') |
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329 except sqlite3.OperationalError as error: |
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330 printDBError(error) |
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331 return [] |
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332 |
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333 objId = -1 |
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334 obj = None |
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335 objects = [] |
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336 for row in cursor: |
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337 if row[0] != objId: |
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338 objId = row[0] |
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339 if obj: |
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340 objects.append(obj) |
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341 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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342 else: |
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343 obj.timeInterval.last = row[1] |
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344 obj.positions.addPositionXY(row[2],row[3]) |
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345 |
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346 if obj: |
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347 objects.append(obj) |
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348 |
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349 return objects |
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350 |
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351 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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352 '''Loads nObjects or the indices in objectNumbers from the database''' |
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353 connection = sqlite3.connect(filename) # add test if it open |
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354 |
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355 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers) |
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356 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers) |
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357 |
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358 if len(objectVelocities) > 0: |
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359 for o,v in zip(objects, objectVelocities): |
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360 if o.getNum() == v.getNum(): |
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361 o.velocities = v.positions |
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362 o.velocities.duplicateLastPosition() # avoid having velocity shorter by one position than positions |
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363 else: |
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364 print('Could not match positions {0} with velocities {1}'.format(o.getNum(), v.getNum())) |
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365 |
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366 if trajectoryType == 'object': |
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367 cursor = connection.cursor() |
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368 try: |
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369 # attribute feature numbers to objects |
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370 objectIdQuery = getTrajectoryIdQuery(objectNumbers, trajectoryType) |
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371 queryStatement = 'SELECT P.trajectory_id, OF.object_id from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id '+objectIdQuery+'group by P.trajectory_id order by OF.object_id' # order is important to group all features per object |
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372 cursor.execute(queryStatement) |
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373 logging.debug(queryStatement) |
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374 |
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375 featureNumbers = {} |
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376 for row in cursor: |
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377 objId = row[1] |
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378 if objId not in featureNumbers: |
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379 featureNumbers[objId] = [row[0]] |
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380 else: |
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381 featureNumbers[objId].append(row[0]) |
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382 |
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383 for obj in objects: |
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384 obj.featureNumbers = featureNumbers[obj.getNum()] |
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385 |
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386 # load userType |
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330
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387 if objectIdQuery == '': |
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388 cursor.execute('SELECT object_id, road_user_type from objects') |
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389 else: |
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390 cursor.execute('SELECT object_id, road_user_type from objects where '+objectIdQuery[7:]) |
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391 userTypes = {} |
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392 for row in cursor: |
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393 userTypes[row[0]] = row[1] |
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394 |
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395 for obj in objects: |
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396 obj.userType = userTypes[obj.getNum()] |
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397 |
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342
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398 except sqlite3.OperationalError as error: |
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399 printDBError(error) |
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400 return [] |
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401 |
|
143
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402 connection.close() |
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403 return objects |
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404 |
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344
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405 def removeFromSqlite(filename, dataType): |
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406 'Removes some tables in the filename depending on type of data' |
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407 import os |
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408 if os.path.isfile(filename): |
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409 connection = sqlite3.connect(filename) |
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410 if dataType == 'object': |
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411 dropTables(connection, ['objects', 'objects_features']) |
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412 elif dataType == 'interaction': |
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413 dropTables(connection, ['interactions', 'indicators']) |
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414 elif dataType == 'bb': |
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415 dropTables(connection, ['bounding_boxes']) |
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416 else: |
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417 print('Unknown data type {} to delete from database'.format(dataType)) |
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418 connection.close() |
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419 else: |
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420 print('{} does not exist'.format(filename)) |
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421 |
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422 def createInteractionTable(cursor): |
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423 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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424 |
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425 def createIndicatorTables(cursor): |
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426 # cursor.execute('CREATE TABLE IF NOT EXISTS indicators (id INTEGER PRIMARY KEY, interaction_id INTEGER, indicator_type INTEGER, FOREIGN KEY(interaction_id) REFERENCES interactions(id))') |
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427 # cursor.execute('CREATE TABLE IF NOT EXISTS indicator_values (indicator_id INTEGER, frame_number INTEGER, value REAL, FOREIGN KEY(indicator_id) REFERENCES indicators(id), PRIMARY KEY(indicator_id, frame_number))') |
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428 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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429 |
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430 def saveInteraction(cursor, interaction): |
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431 roadUserNumbers = list(interaction.getRoadUserNumbers()) |
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432 cursor.execute('INSERT INTO interactions VALUES({}, {}, {}, {}, {})'.format(interaction.getNum(), roadUserNumbers[0], roadUserNumbers[1], interaction.getFirstInstant(), interaction.getLastInstant())) |
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433 |
|
340
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434 def saveInteractions(filename, interactions): |
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435 'Saves the interactions in the table' |
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436 connection = sqlite3.connect(filename) |
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437 cursor = connection.cursor() |
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342
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438 try: |
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439 createInteractionTable(cursor) |
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440 for inter in interactions: |
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441 saveInteraction(cursor, inter) |
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442 except sqlite3.OperationalError as error: |
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443 printDBError(error) |
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341
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444 connection.commit() |
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445 connection.close() |
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446 |
|
341
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447 def saveIndicator(cursor, interactionNum, indicator): |
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448 for instant in indicator.getTimeInterval(): |
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449 if indicator[instant]: |
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450 cursor.execute('INSERT INTO indicators VALUES({}, {}, {}, {})'.format(interactionNum, events.Interaction.indicatorNameToIndices[indicator.getName()], instant, indicator[instant])) |
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451 |
|
343
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452 def saveIndicators(filename, interactions, indicatorNames = events.Interaction.indicatorNames): |
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453 'Saves the indicator values in the table' |
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454 connection = sqlite3.connect(filename) |
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455 cursor = connection.cursor() |
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456 try: |
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457 createInteractionTable(cursor) |
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458 createIndicatorTables(cursor) |
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459 for inter in interactions: |
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460 saveInteraction(cursor, inter) |
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461 for indicatorName in indicatorNames: |
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462 indicator = inter.getIndicator(indicatorName) |
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463 if indicator != None: |
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464 saveIndicator(cursor, inter.getNum(), indicator) |
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465 except sqlite3.OperationalError as error: |
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466 printDBError(error) |
|
341
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467 connection.commit() |
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468 connection.close() |
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469 |
|
482
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diff
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470 def loadInteractions(filename): |
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471 '''Loads interaction and their indicators |
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472 |
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473 TODO choose the interactions to load''' |
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474 interactions = [] |
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475 connection = sqlite3.connect(filename) |
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476 cursor = connection.cursor() |
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477 try: |
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478 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') |
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479 interactionNum = -1 |
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480 indicatorTypeNum = -1 |
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481 tmpIndicators = {} |
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482 for row in cursor: |
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483 if row[0] != interactionNum: # save interaction and create new interaction |
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484 if interactionNum >= 0: |
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485 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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486 interactions[-1].indicators = tmpIndicators |
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487 tmpIndicators = {} |
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488 interactionNum = row[0] |
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489 roadUserNumbers = row[1:3] |
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490 if indicatorTypeNum != row[5]: |
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491 if indicatorTypeNum >= 0: |
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492 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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493 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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494 indicatorTypeNum = row[5] |
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495 indicatorValues = {row[6]:row[7]} |
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496 else: |
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497 indicatorValues[row[6]] = row[7] |
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498 if interactionNum >= 0: |
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499 if indicatorTypeNum >= 0: |
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500 indicatorName = events.Interaction.indicatorNames[indicatorTypeNum] |
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501 tmpIndicators[indicatorName] = indicators.SeverityIndicator(indicatorName, indicatorValues) |
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502 interactions.append(events.Interaction(interactionNum, moving.TimeInterval(row[3],row[4]), roadUserNumbers[0], roadUserNumbers[1])) |
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503 interactions[-1].indicators = tmpIndicators |
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504 except sqlite3.OperationalError as error: |
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491
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505 printDBError(error) |
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506 return [] |
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507 connection.close() |
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508 return interactions |
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509 # load first and last object instants |
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510 # 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 |
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511 |
|
390
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512 def createBoundingBoxTable(filename, invHomography = None): |
|
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513 '''Create the table to store the object bounding boxes in image space |
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514 ''' |
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515 connection = sqlite3.connect(filename) |
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516 cursor = connection.cursor() |
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517 try: |
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518 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))') |
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519 cursor.execute('INSERT INTO bounding_boxes SELECT object_id, frame_number, min(x), min(y), max(x), max(y) from ' |
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520 '(SELECT object_id, frame_number, (x*{}+y*{}+{})/w as x, (x*{}+y*{}+{})/w as y from ' |
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521 '(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])+ |
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522 'GROUP BY object_id, frame_number') |
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523 except sqlite3.OperationalError as error: |
|
491
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524 printDBError(error) |
|
390
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525 connection.commit() |
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526 connection.close() |
|
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527 |
|
393
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528 def loadBoundingBoxTable(filename): |
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529 connection = sqlite3.connect(filename) |
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530 cursor = connection.cursor() |
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531 boundingBoxes = {} # list of bounding boxes for each instant |
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532 try: |
|
394
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533 cursor.execute('SELECT name FROM sqlite_master WHERE type=\'table\' AND name=\'bounding_boxes\'') |
|
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534 result = [row for row in cursor] |
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535 if len(result) > 0: |
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536 cursor.execute('SELECT * FROM bounding_boxes') |
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537 #objId = -1 |
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538 for row in cursor: |
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539 #if row[0] != objId: |
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540 boundingBoxes.setdefault(row[1], []).append([moving.Point(row[2], row[3]), moving.Point(row[4], row[5])]) |
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|
541 except sqlite3.OperationalError as error: |
|
491
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|
542 printDBError(error) |
|
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543 return boundingBoxes |
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544 connection.close() |
|
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545 return boundingBoxes |
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546 |
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547 |
|
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548 ######################### |
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549 # txt files |
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550 ######################### |
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551 |
|
525
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524
diff
changeset
|
552 def openCheck(filename, option = 'r', quitting = False): |
|
509
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diff
changeset
|
553 '''Open file filename in read mode by default |
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554 and checks it is open''' |
|
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diff
changeset
|
555 try: |
|
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changeset
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556 return open(filename, option) |
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|
557 except IOError: |
|
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diff
changeset
|
558 print 'File %s could not be opened.' % filename |
|
525
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524
diff
changeset
|
559 if quitting: |
|
509
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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changeset
|
560 from sys import exit |
|
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|
561 exit() |
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562 return None |
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diff
changeset
|
563 |
|
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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parents:
552
diff
changeset
|
564 def readline(f, commentCharacters = commentChar): |
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changeset
|
565 '''Modified readline function to skip comments |
|
36605d843be5
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diff
changeset
|
566 Can take a list of characters or a string (in will work in both)''' |
|
509
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diff
changeset
|
567 s = f.readline() |
|
564
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parents:
552
diff
changeset
|
568 while (len(s) > 0) and s[0] in commentCharacters: |
|
509
935430b1d408
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diff
changeset
|
569 s = f.readline() |
|
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570 return s.strip() |
|
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diff
changeset
|
571 |
|
564
36605d843be5
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
572 def getLines(f, commentCharacters = commentChar): |
|
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
573 '''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
|
574 dataStrings = [] |
|
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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parents:
552
diff
changeset
|
575 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
|
576 while len(s) > 0: |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
577 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
|
578 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
|
579 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
|
580 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
581 def writeList(filename, l): |
|
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
582 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
|
583 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
|
584 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:
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diff
changeset
|
585 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
|
586 |
|
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
587 def loadListStrings(filename, commentCharacters = commentChar): |
|
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
588 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
|
589 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
|
590 f.close() |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
591 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
|
592 |
|
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
|
593 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
|
594 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
|
595 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
|
596 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
|
597 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
|
598 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
|
599 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
600 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
|
601 '''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
|
602 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
603 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
|
604 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
|
605 ''' |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
606 def __init__(self, fp): |
|
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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
|
607 self.fp = fp |
|
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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
|
608 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
|
609 |
|
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
|
610 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
|
611 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
|
612 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
|
613 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
|
614 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
|
615 |
|
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
616 def loadTrajectoriesFromVissimFile(filename, simulationStepsPerTimeUnit, nObjects = -1, warmUpLastInstant = None): |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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parents:
524
diff
changeset
|
617 '''Reads data from VISSIM .fzp trajectory file |
|
527
37830a831818
loading from VISSIM trajectory data works
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parents:
526
diff
changeset
|
618 simulationStepsPerTimeUnit is the number of simulation steps per unit of time used by VISSIM |
|
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parents:
526
diff
changeset
|
619 for example, there seems to be 5 simulation steps per simulated second in VISSIM, |
|
37830a831818
loading from VISSIM trajectory data works
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parents:
526
diff
changeset
|
620 so simulationStepsPerTimeUnit should be 5, |
|
37830a831818
loading from VISSIM trajectory data works
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parents:
526
diff
changeset
|
621 so that all times correspond to the number of the simulation step (and can be stored as integers) |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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parents:
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diff
changeset
|
622 |
|
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first draft of loading from VISSIM file
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diff
changeset
|
623 Assumed to be sorted over time''' |
|
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diff
changeset
|
624 objects = {} # dictionary of objects index by their id |
|
541
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added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
625 firstInstants = {} |
|
525
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first draft of loading from VISSIM file
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parents:
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diff
changeset
|
626 |
|
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
627 inputfile = openCheck(filename, quitting = True) |
|
525
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first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
628 |
|
7124c7d2a663
first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
524
diff
changeset
|
629 # data = pd.read_csv(filename, skiprows=15, delimiter=';') |
|
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parents:
524
diff
changeset
|
630 # skip header: 15 lines + 1 |
|
564
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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:
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diff
changeset
|
631 line = readline(inputfile, '*$') |
|
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
552
diff
changeset
|
632 while len(line) > 0:#for line in inputfile: |
|
525
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first draft of loading from VISSIM file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
changeset
|
633 data = line.strip().split(';') |
|
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diff
changeset
|
634 objNum = int(data[1]) |
|
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diff
changeset
|
635 instant = int(float(data[0])*simulationStepsPerTimeUnit) |
|
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diff
changeset
|
636 s = float(data[4]) |
|
7124c7d2a663
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diff
changeset
|
637 y = float(data[5]) |
|
527
37830a831818
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parents:
526
diff
changeset
|
638 lane = data[2]+'_'+data[3] |
|
541
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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parents:
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diff
changeset
|
639 if objNum not in firstInstants: |
|
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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parents:
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diff
changeset
|
640 firstInstants[objNum] = instant |
|
048b43654870
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
641 if warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant: |
|
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
642 if nObjects < 0 or len(objects) < nObjects: |
|
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added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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diff
changeset
|
643 objects[objNum] = moving.MovingObject(num = objNum, timeInterval = moving.TimeInterval(instant, instant)) |
|
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
644 objects[objNum].curvilinearPositions = moving.CurvilinearTrajectory() |
|
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
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parents:
537
diff
changeset
|
645 if (warmUpLastInstant == None or firstInstants[objNum] >= warmUpLastInstant) and objNum in objects: |
|
048b43654870
added condition on warmup time to load trajectories from vissim files and corrected condition on number of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
537
diff
changeset
|
646 objects[objNum].timeInterval.last = instant |
|
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
541
diff
changeset
|
647 objects[objNum].curvilinearPositions.addPositionSYL(s, y, lane) |
|
564
36605d843be5
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parents:
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diff
changeset
|
648 line = readline(inputfile, '*$') |
|
524
1dced8932b08
corrected bugs
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parents:
514
diff
changeset
|
649 |
|
525
7124c7d2a663
first draft of loading from VISSIM file
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parents:
524
diff
changeset
|
650 return objects.values() |
|
524
1dced8932b08
corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
514
diff
changeset
|
651 |
|
173
319a04ba9033
function name change
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
143
diff
changeset
|
652 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
653 '''Reads data from the trajectory data provided by NGSIM project |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
654 and returns the list of Feature objects''' |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
655 objects = [] |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
656 |
|
564
36605d843be5
modified bug for reading vissim files, cleaned use of readline with multiple type of characters for comments (to ignore)
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552
diff
changeset
|
657 inputfile = openCheck(filename, quitting = True) |
|
0
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initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
658 |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
Nicolas Saunier <nico@confins.net>
parents:
0
diff
changeset
|
659 def createObject(numbers): |
|
0
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
660 firstFrameNum = int(numbers[1]) |
|
7
ffddccfab7f9
loading shell objects from NGSIM works
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parents:
0
diff
changeset
|
661 # do the geometry and usertype |
|
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loading shell objects from NGSIM works
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parents:
0
diff
changeset
|
662 |
|
72
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
50
diff
changeset
|
663 firstFrameNum = int(numbers[1]) |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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50
diff
changeset
|
664 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents:
50
diff
changeset
|
665 #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
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50
diff
changeset
|
666 obj = moving.MovingObject(num = int(numbers[0]), |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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parents:
50
diff
changeset
|
667 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
|
575340e6fce3
corrected most of the method to load NGSIM data (adapted to the current MovingObject class
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50
diff
changeset
|
668 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
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parents:
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diff
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669 userType = int(numbers[10])) |
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670 obj.userType = int(numbers[10]) |
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671 obj.laneNums = [int(numbers[13])] |
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672 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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673 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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674 obj.spaceHeadways = [float(numbers[16])] # feet |
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675 obj.timeHeadways = [float(numbers[17])] # seconds |
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676 obj.curvilinearPositions = moving.CurvilinearTrajectory([float(numbers[5])],[float(numbers[4])], obj.laneNums) # X is the longitudinal coordinate |
|
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changeset
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677 obj.speeds = [float(numbers[11])] |
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678 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
|
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679 return obj |
|
0
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680 |
|
564
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681 numbers = readline(inputfile).strip().split() |
|
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682 if (len(numbers) > 0): |
|
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683 obj = createObject(numbers) |
|
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684 |
|
564
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|
685 for line in inputfile: |
|
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686 numbers = line.strip().split() |
|
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|
687 if obj.getNum() != int(numbers[0]): |
|
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688 # check and adapt the length to deal with issues in NGSIM data |
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689 if (obj.length() != obj.positions.length()): |
|
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690 print 'length pb with object %s (%d,%d)' % (obj.getNum(),obj.length(),obj.positions.length()) |
|
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691 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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diff
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692 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
|
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|
693 objects.append(obj) |
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|
694 if (nObjects>0) and (len(objects)>=nObjects): |
|
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695 break |
|
7
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|
696 obj = createObject(numbers) |
|
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697 else: |
|
327
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|
698 obj.laneNums.append(int(numbers[13])) |
|
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diff
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|
699 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
|
542
a3add9f751ef
added differentiate function for curvilinear trajectories and modified the addPosition functions
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parents:
541
diff
changeset
|
700 obj.curvilinearPositions.addPositionSYL(float(numbers[5]), float(numbers[4]), obj.laneNums[-1]) |
|
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diff
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|
701 obj.speeds.append(float(numbers[11])) |
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702 obj.precedingVehicles.append(int(numbers[14])) |
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diff
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|
703 obj.followingVehicles.append(int(numbers[15])) |
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diff
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704 obj.spaceHeadways.append(float(numbers[16])) |
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diff
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705 obj.timeHeadways.append(float(numbers[17])) |
|
7
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diff
changeset
|
706 |
|
72
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diff
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|
707 if (obj.size[0] != float(numbers[8])): |
|
329
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|
708 print 'changed length obj %d' % (obj.getNum()) |
|
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diff
changeset
|
709 if (obj.size[1] != float(numbers[9])): |
|
329
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diff
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|
710 print 'changed width obj %d' % (obj.getNum()) |
|
0
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parents:
diff
changeset
|
711 |
|
564
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parents:
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diff
changeset
|
712 inputfile.close() |
|
7
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0
diff
changeset
|
713 return objects |
|
0
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parents:
diff
changeset
|
714 |
|
564
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parents:
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diff
changeset
|
715 def convertNgsimFile(inputfile, outputfile, append = False, nObjects = -1, sequenceNum = 0): |
|
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|
716 '''Reads data from the trajectory data provided by NGSIM project |
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diff
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|
717 and converts to our current format.''' |
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parents:
diff
changeset
|
718 if append: |
|
564
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parents:
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diff
changeset
|
719 out = openCheck(outputfile,'a') |
|
0
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parents:
diff
changeset
|
720 else: |
|
564
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parents:
552
diff
changeset
|
721 out = openCheck(outputfile,'w') |
|
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parents:
diff
changeset
|
722 nObjectsPerType = [0,0,0] |
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parents:
diff
changeset
|
723 |
|
564
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parents:
552
diff
changeset
|
724 features = loadNgsimFile(inputfile, sequenceNum) |
|
0
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parents:
diff
changeset
|
725 for f in features: |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
726 nObjectsPerType[f.userType-1] += 1 |
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
727 f.write(out) |
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parents:
diff
changeset
|
728 |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
729 print nObjectsPerType |
|
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initial commit with non-functional python code for NGSIM
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parents:
diff
changeset
|
730 |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
731 out.close() |
|
aed8eb63cdde
initial commit with non-functional python code for NGSIM
Nicolas Saunier <nico@confins.net>
parents:
diff
changeset
|
732 |
|
335
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
733 def writePositionsToCsv(f, obj): |
|
3950bfe22768
added functions to export trajectories to csv
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parents:
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diff
changeset
|
734 timeInterval = obj.getTimeInterval() |
|
3950bfe22768
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parents:
330
diff
changeset
|
735 positions = obj.getPositions() |
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added functions to export trajectories to csv
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parents:
330
diff
changeset
|
736 curvilinearPositions = obj.getCurvilinearPositions() |
|
3950bfe22768
added functions to export trajectories to csv
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parents:
330
diff
changeset
|
737 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
|
738 p1 = positions[i] |
|
3950bfe22768
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parents:
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diff
changeset
|
739 s = '{},{},{},{}'.format(obj.num,timeInterval[i],p1.x,p1.y) |
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parents:
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diff
changeset
|
740 if curvilinearPositions != None: |
|
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parents:
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diff
changeset
|
741 p2 = curvilinearPositions[i] |
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added functions to export trajectories to csv
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parents:
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diff
changeset
|
742 s += ',{},{}'.format(p2[0],p2[1]) |
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diff
changeset
|
743 f.write(s+'\n') |
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3950bfe22768
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parents:
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diff
changeset
|
744 |
|
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parents:
330
diff
changeset
|
745 def writeTrajectoriesToCsv(filename, objects): |
|
514
1ba618fb0f70
corrected bug from merging and argument issue in display-trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
509
diff
changeset
|
746 f = openCheck(filename, 'w') |
|
335
3950bfe22768
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parents:
330
diff
changeset
|
747 for i,obj in enumerate(objects): |
|
3950bfe22768
added functions to export trajectories to csv
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
330
diff
changeset
|
748 writePositionsToCsv(f, obj) |
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parents:
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diff
changeset
|
749 f.close() |
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parents:
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diff
changeset
|
750 |
|
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
|
751 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
752 ######################### |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
753 # 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
|
754 ######################### |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
755 |
|
536
95276d310972
renamed TrackingParameters to ProcessParameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
527
diff
changeset
|
756 class ProcessParameters: |
|
537
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
757 '''Class for all parameters controlling data processing: input, |
|
6c264b914846
work on classification parameters
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
536
diff
changeset
|
758 method parameters, etc. for tracking, classification and safety |
|
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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diff
changeset
|
759 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
760 Note: framerate is already taken into account''' |
|
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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
761 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
762 def loadConfigFile(self, filename): |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
763 from ConfigParser import ConfigParser |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents:
491
diff
changeset
|
764 from numpy import loadtxt |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
765 from os import path |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
766 |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
767 config = ConfigParser() |
|
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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
|
768 config.readfp(FakeSecHead(openCheck(filename))) |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
769 self.sectionHeader = config.sections()[0] |
|
537
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work on classification parameters
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parents:
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diff
changeset
|
770 # Tracking/display parameters |
|
509
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
771 self.videoFilename = config.get(self.sectionHeader, 'video-filename') |
|
935430b1d408
corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
491
diff
changeset
|
772 self.databaseFilename = config.get(self.sectionHeader, 'database-filename') |
|
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773 self.homographyFilename = config.get(self.sectionHeader, 'homography-filename') |
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774 if (path.exists(self.homographyFilename)): |
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775 self.homography = loadtxt(self.homographyFilename) |
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776 else: |
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777 self.homography = None |
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778 self.intrinsicCameraFilename = config.get(self.sectionHeader, 'intrinsic-camera-filename') |
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779 if (path.exists(self.intrinsicCameraFilename)): |
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780 self.intrinsicCameraMatrix = loadtxt(self.intrinsicCameraFilename) |
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781 else: |
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782 self.intrinsicCameraMatrix = None |
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783 distortionCoefficients = getValuesFromINIFile(filename, 'distortion-coefficients', '=') |
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784 self.distortionCoefficients = [float(x) for x in distortionCoefficients] |
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785 self.undistortedImageMultiplication = config.getfloat(self.sectionHeader, 'undistorted-size-multiplication') |
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786 self.undistort = config.getboolean(self.sectionHeader, 'undistort') |
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787 self.firstFrameNum = config.getint(self.sectionHeader, 'frame1') |
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788 self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps') |
| 377 | 789 |
|
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790 # Classification parameters |
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791 |
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792 |
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793 # Safety parameters |
|
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794 self.maxPredictedSpeed = config.getfloat(self.sectionHeader, 'max-predicted-speed')/3.6/self.videoFrameRate |
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795 self.predictionTimeHorizon = config.getfloat(self.sectionHeader, 'prediction-time-horizon')*self.videoFrameRate |
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796 self.collisionDistance = config.getfloat(self.sectionHeader, 'collision-distance') |
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797 self.crossingZones = config.getboolean(self.sectionHeader, 'crossing-zones') |
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798 self.predictionMethod = config.get(self.sectionHeader, 'prediction-method') |
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799 self.nPredictedTrajectories = config.getint(self.sectionHeader, 'npredicted-trajectories') |
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800 self.maxNormalAcceleration = config.getfloat(self.sectionHeader, 'max-normal-acceleration')/self.videoFrameRate**2 |
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801 self.maxNormalSteering = config.getfloat(self.sectionHeader, 'max-normal-steering')/self.videoFrameRate |
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802 self.minExtremeAcceleration = config.getfloat(self.sectionHeader, 'min-extreme-acceleration')/self.videoFrameRate**2 |
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803 self.maxExtremeAcceleration = config.getfloat(self.sectionHeader, 'max-extreme-acceleration')/self.videoFrameRate**2 |
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804 self.maxExtremeSteering = config.getfloat(self.sectionHeader, 'max-extreme-steering')/self.videoFrameRate |
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805 self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction') |
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806 |
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807 def __init__(self, filename = None): |
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808 if filename != None: |
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809 self.loadConfigFile(filename) |
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810 |
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811 class SceneParameters: |
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812 def __init__(self, config, sectionName): |
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813 from ConfigParser import NoOptionError |
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814 from ast import literal_eval |
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815 try: |
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816 self.sitename = config.get(sectionName, 'sitename') |
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817 self.databaseFilename = config.get(sectionName, 'data-filename') |
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818 self.homographyFilename = config.get(sectionName, 'homography-filename') |
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819 self.calibrationFilename = config.get(sectionName, 'calibration-filename') |
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820 self.videoFilename = config.get(sectionName, 'video-filename') |
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821 self.frameRate = config.getfloat(sectionName, 'framerate') |
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822 self.date = datetime.strptime(config.get(sectionName, 'date'), datetimeFormat) # 2011-06-22 11:00:39 |
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823 self.translation = literal_eval(config.get(sectionName, 'translation')) # = [0.0, 0.0] |
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824 self.rotation = config.getfloat(sectionName, 'rotation') |
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825 self.duration = config.getint(sectionName, 'duration') |
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826 except NoOptionError as e: |
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827 print(e) |
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828 print('Not a section for scene meta-data') |
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829 |
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830 @staticmethod |
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831 def loadConfigFile(filename): |
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832 from ConfigParser import ConfigParser |
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833 config = ConfigParser() |
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834 config.readfp(openCheck(filename)) |
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835 configDict = dict() |
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836 for sectionName in config.sections(): |
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837 configDict[sectionName] = SceneParameters(config, sectionName) |
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838 return configDict |
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839 |
|
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|
840 |
| 607 | 841 |
|
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842 if __name__ == "__main__": |
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843 import doctest |
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844 import unittest |
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845 suite = doctest.DocFileSuite('tests/storage.txt') |
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846 unittest.TextTestRunner().run(suite) |
|
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847 # #doctest.testmod() |
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848 # #doctest.testfile("example.txt") |