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added code to load object trajectories (average of features)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 06 Mar 2012 18:44:03 -0500
parents e2f31813ade6
children d9855499fc88
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1 #! /usr/bin/env python
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2 '''Various utilities to save and load data'''
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3
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4 import utils
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5 import moving
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7 __metaclass__ = type
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10 ngsimUserTypes = {'twowheels':1,
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11 'car':2,
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12 'truck':3}
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14 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1):
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15 '''Loads nObjects or the indices in objectNumbers from the database
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16 TODO: load velocities (replace table name 'positions' by 'velocities'
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17 TODO: load features as well, other ways of averaging trajectories
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18 '''
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19 import sqlite3
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21 connection = sqlite3.connect(filename) # add test if it open
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22 cursor = connection.cursor()
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23
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24 if trajectoryType == 'feature':
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25 if type(objectNumbers) == int:
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26 if objectNumbers == -1:
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27 cursor.execute('SELECT * from positions order by trajectory_id, frame_number')
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28 else:
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29 cursor.execute('SELECT * from positions where trajectory_id between 0 and {0} order by trajectory_id, frame_number'.format(objectNumbers))
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30 elif type(objectNumbers) == list:
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31 cursor.execute('SELECT * from positions where trajectory_id in ('+', '.join([str(n) for n in objectNumbers])+') order by trajectory_id, frame_number')
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32 elif trajectoryType == 'object':
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33 if type(objectNumbers) == int:
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34 if objectNumbers == -1:
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35 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id group by object_id, frame_number')
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36 else:
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37 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id and trajectory_id between 0 and {0} group by object_id, frame_number'.format(objectNumbers))
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38 elif type(objectNumbers) == list:
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39 cursor.execute('SELECT OF.object_id, P.frame_number, avg(P.x_coordinate), avg(P.y_coordinate) from positions P, objects_features OF where P.trajectory_id = OF.trajectory_id and trajectory_id in ('+', '.join([str(n) for n in objectNumbers])+') group by object_id, frame_number')
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40 else:
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41 print('no trajectory type was chosen')
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42
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43 objId = -1
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44 obj = None
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45 objects = []
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46 for row in cursor:
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47 if row[0] != objId:
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48 objId = row[0]
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49 if obj:
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50 objects.append(obj)
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51 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]]))
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52 else:
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53 obj.timeInterval.last = row[1]
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54 obj.positions.addPositionXY(row[2],row[3])
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55
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56 if obj:
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57 objects.append(obj)
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58
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59 connection.close()
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60 return objects
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61
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62 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1):
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63 '''Reads data from the trajectory data provided by NGSIM project
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64 and returns the list of Feature objects'''
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65 objects = []
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67 input = utils.openCheck(filename)
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68 if not input:
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69 import sys
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70 sys.exit()
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72 def createObject(numbers):
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73 firstFrameNum = int(numbers[1])
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74 # do the geometry and usertype
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75
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76 firstFrameNum = int(numbers[1])
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77 lastFrameNum = firstFrameNum+int(numbers[2])-1
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78 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1)
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79 obj = moving.MovingObject(num = int(numbers[0]),
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80 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum),
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81 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]),
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82 userType = int(numbers[10]))
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83 obj.userType = int(numbers[10])
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84 obj.laneNums = [int(numbers[13])]
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85 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before)
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86 obj.followingVehicles = [int(numbers[15])] # following vehicle (after)
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87 obj.spaceHeadways = [float(numbers[16])] # feet
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88 obj.timeHeadways = [float(numbers[17])] # seconds
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89 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate
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90 obj.speeds = [float(numbers[11])]
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91 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object
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92 return obj
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94 numbers = input.readline().strip().split()
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95 if (len(numbers) > 0):
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96 obj = createObject(numbers)
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97
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98 for line in input:
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99 numbers = line.strip().split()
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100 if obj.num != int(numbers[0]):
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101 # check and adapt the length to deal with issues in NGSIM data
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102 if (obj.length() != obj.positions.length()):
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103 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length())
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104 obj.last = obj.getFirstInstant()+obj.positions.length()-1
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105 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ?
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106 objects.append(obj)
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107 if (nObjects>0) and (len(objects)>=nObjects):
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108 break
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109 obj = createObject(numbers)
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110 else:
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111 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7]))
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112 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4]))
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113 obj.speeds.append(float(numbers[11]))
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114 obj.laneNums.append(int(numbers[13]))
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115 obj.precedingVehicles.append(int(numbers[14]))
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116 obj.followingVehicles.append(int(numbers[15]))
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117 obj.spaceHeadways.append(float(numbers[16]))
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118 obj.timeHeadways.append(float(numbers[17]))
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119
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120 if (obj.size[0] != float(numbers[8])):
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121 print 'changed length obj %d' % (f.num)
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122 if (obj.size[1] != float(numbers[9])):
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123 print 'changed width obj %d' % (f.num)
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124
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125 input.close()
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126 return objects
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127
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128 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0):
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129 '''Reads data from the trajectory data provided by NGSIM project
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130 and converts to our current format.'''
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131 if append:
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132 out = open(outFile,'a')
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133 else:
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134 out = open(outFile,'w')
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135 nObjectsPerType = [0,0,0]
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136
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137 features = loadNgsimFile(inFile, sequenceNum)
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138 for f in features:
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139 nObjectsPerType[f.userType-1] += 1
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140 f.write(out)
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141
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142 print nObjectsPerType
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143
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144 out.close()
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145
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146
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148
72
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149 # if __name__ == "__main__":
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150 # import doctest
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151 # import unittest
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152 # suite = doctest.DocFileSuite('tests/ubc_utils.txt')
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153 # unittest.TextTestRunner().run(suite)
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154 # #doctest.testmod()
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155 # #doctest.testfile("example.txt")