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modified functions to read velocities from sqlite database
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 11 Jul 2012 16:30:23 -0400
parents 584613399513
children 583a2c4622f9
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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
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6 import moving
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8 __metaclass__ = type
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9
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10
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11 ngsimUserTypes = {'twowheels':1,
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12 'car':2,
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13 'truck':3}
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15 def writeTrajectoriesToSqlite(objects, outFile, trajectoryType, objectNumbers = -1):
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16 """
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17 This function writers trajectories to a specified sqlite file
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18 @param[in] objects -> a list of trajectories
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19 @param[in] trajectoryType -
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20 @param[out] outFile -> the .sqlite file containting the written objects
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21 @param[in] objectNumber : number of objects loaded
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22 """
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23
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24 import sqlite3
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25 connection = sqlite3.connect(outFile)
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26 cursor = connection.cursor()
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27
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28 schema = "CREATE TABLE \"positions\"(trajectory_id INTEGER,frame_number INTEGER, x_coordinate REAL, y_coordinate REAL, PRIMARY KEY(trajectory_id, frame_number))"
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29 cursor.execute(schema)
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31 trajectory_id = 0
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32 frame_number = 0
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33 if trajectoryType == 'feature':
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34 if type(objectNumbers) == int and objectNumbers == -1:
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35 for trajectory in objects:
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36 trajectory_id += 1
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37 frame_number = 0
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38 for position in trajectory.getPositions():
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39 frame_number += 1
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40 query = "insert into positions (trajectory_id, frame_number, x_coordinate, y_coordinate) values (?,?,?,?)"
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41 cursor.execute(query,(trajectory_id,frame_number,position.x,position.y))
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42
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43 connection.commit()
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44 connection.close()
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45
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46 def loadPrototypeMatchIndexesFromSqlite(filename):
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47 """
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48 This function loads the prototypes table in the database of name <filename>.
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49 It returns a list of tuples representing matching ids : [(prototype_id, matched_trajectory_id),...]
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50 """
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51 matched_indexes = []
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52
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53 import sqlite3
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54 connection = sqlite3.connect(filename)
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55 cursor = connection.cursor()
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56
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57 try:
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58 cursor.execute('SELECT * from prototypes order by prototype_id, trajectory_id_matched')
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59 except sqlite3.OperationalError as err:
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60 print('DB Error: {0}'.format(err))
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61 return []
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62
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63 for row in cursor:
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64 matched_indexes.append((row[0],row[1]))
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65
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66 connection.close()
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67 return matched_indexes
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68
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69 def loadTrajectoriesFromTable(connection, tableName, trajectoryType, objectNumbers = -1):
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70 '''Loads trajectories (in the general sense) from the given table
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71 can be positions or velocities
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72
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73 returns a moving object'''
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74 cursor = connection.cursor()
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75
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76 try:
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77 if trajectoryType == 'feature':
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78 if type(objectNumbers) == int:
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79 if objectNumbers == -1:
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80 cursor.execute('SELECT * from '+tableName+' order by trajectory_id, frame_number')
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81 else:
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82 cursor.execute('SELECT * from {0} where trajectory_id between 0 and {1} order by trajectory_id, frame_number'.format(tableName, objectNumbers))
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83 elif type(objectNumbers) == list:
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84 cursor.execute('SELECT * from '+tableName+' where trajectory_id in ('+', '.join([str(n) for n in objectNumbers])+') order by trajectory_id, frame_number')
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85 elif trajectoryType == 'object':
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86 if type(objectNumbers) == int:
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87 if objectNumbers == -1:
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88 cursor.execute('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 group by object_id, frame_number')
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89 else:
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90 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from {0} P, objects_features OF where P.trajectory_id = OF.trajectory_id and OF.object_id between 0 and {1} group by object_id, frame_number'.format(tableName, objectNumbers))
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91 elif type(objectNumbers) == list:
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92 cursor.execute('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 and OF.object_id in ('+', '.join([str(n) for n in objectNumbers])+') group by object_id, frame_number')
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93 else:
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94 print('no trajectory type was chosen')
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95 except sqlite3.OperationalError as err:
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96 print('DB Error: {0}'.format(err))
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97 return []
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98
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99 objId = -1
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100 obj = None
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101 objects = []
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102 for row in cursor:
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103 if row[0] != objId:
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104 objId = row[0]
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105 if obj:
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106 objects.append(obj)
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107 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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108 else:
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109 obj.timeInterval.last = row[1]
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110 obj.positions.addPositionXY(row[2],row[3])
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111
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112 if obj:
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113 objects.append(obj)
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114
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115 return objects
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116
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117 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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118 '''Loads nObjects or the indices in objectNumbers from the database
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119 TODO: load feature numbers and not average feature trajectories
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120 TODO: other ways of averaging trajectories (load all points, sorted by frame_number and leave the agregation to be done in python)
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121 '''
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122 import sqlite3
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123
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124 connection = sqlite3.connect(filename) # add test if it open
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125
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126 objects = loadTrajectoriesFromTable(connection, 'positions', trajectoryType, objectNumbers)
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127 objectVelocities = loadTrajectoriesFromTable(connection, 'velocities', trajectoryType, objectNumbers)
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128
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129 if len(objectVelocities) > 0:
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130 for o,v in zip(objects, objectVelocities):
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131 if o.num == v.num:
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132 o.velocities = v.positions
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133 else:
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134 print('Could not match positions {0} with velocities {1}'.format(o.num, v.num))
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135
143
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136 connection.close()
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137 return objects
0
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138
235
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139 def removeObjectsFromSqlite(filename):
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140 'Removes the objects and object_features tables in the filename'
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141 import sqlite3
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142 connection = sqlite3.connect(filename)
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143 utils.dropTables(connection, ['objects', 'objects_features'])
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144 connection.close()
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145
173
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146 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
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147 '''Reads data from the trajectory data provided by NGSIM project
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148 and returns the list of Feature objects'''
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149 objects = []
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150
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151 input = utils.openCheck(filename)
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152 if not input:
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153 import sys
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154 sys.exit()
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155
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156 def createObject(numbers):
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157 firstFrameNum = int(numbers[1])
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158 # do the geometry and usertype
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159
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160 firstFrameNum = int(numbers[1])
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161 lastFrameNum = firstFrameNum+int(numbers[2])-1
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162 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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163 obj = moving.MovingObject(num = int(numbers[0]),
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164 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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165 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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166 userType = int(numbers[10]))
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167 obj.userType = int(numbers[10])
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168 obj.laneNums = [int(numbers[13])]
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169 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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170 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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171 obj.spaceHeadways = [float(numbers[16])] # feet
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172 obj.timeHeadways = [float(numbers[17])] # seconds
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173 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate
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174 obj.speeds = [float(numbers[11])]
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175 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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176 return obj
0
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177
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178 numbers = input.readline().strip().split()
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179 if (len(numbers) > 0):
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180 obj = createObject(numbers)
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181
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182 for line in input:
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183 numbers = line.strip().split()
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184 if obj.num != int(numbers[0]):
0
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185 # check and adapt the length to deal with issues in NGSIM data
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186 if (obj.length() != obj.positions.length()):
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187 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length())
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188 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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189 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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190 objects.append(obj)
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191 if (nObjects>0) and (len(objects)>=nObjects):
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192 break
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193 obj = createObject(numbers)
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194 else:
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195 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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196 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4]))
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197 obj.speeds.append(float(numbers[11]))
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198 obj.laneNums.append(int(numbers[13]))
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199 obj.precedingVehicles.append(int(numbers[14]))
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200 obj.followingVehicles.append(int(numbers[15]))
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201 obj.spaceHeadways.append(float(numbers[16]))
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202 obj.timeHeadways.append(float(numbers[17]))
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203
72
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204 if (obj.size[0] != float(numbers[8])):
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205 print 'changed length obj %d' % (f.num)
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206 if (obj.size[1] != float(numbers[9])):
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207 print 'changed width obj %d' % (f.num)
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208
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209 input.close()
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210 return objects
0
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211
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212 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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213 '''Reads data from the trajectory data provided by NGSIM project
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214 and converts to our current format.'''
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215 if append:
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216 out = open(outFile,'a')
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217 else:
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218 out = open(outFile,'w')
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219 nObjectsPerType = [0,0,0]
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220
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221 features = loadNgsimFile(inFile, sequenceNum)
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222 for f in features:
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223 nObjectsPerType[f.userType-1] += 1
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224 f.write(out)
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225
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226 print nObjectsPerType
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227
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228 out.close()
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229
215
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230 if __name__ == "__main__":
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231 import doctest
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232 import unittest
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233 suite = doctest.DocFileSuite('tests/storage.txt')
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234 unittest.TextTestRunner().run(suite)
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235 # #doctest.testmod()
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236 # #doctest.testfile("example.txt")