Mercurial Hosting > traffic-intelligence
annotate python/storage.py @ 214:9c7fc6899c0e
corrected name typos in drawOnWorldImage
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 07 Jun 2012 01:20:25 -0400 |
parents | ce44605f888a |
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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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7 |
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8 __metaclass__ = type |
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9 |
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10 |
50 | 11 ngsimUserTypes = {'twowheels':1, |
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12 'car':2, |
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13 'truck':3} |
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14 |
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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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30 |
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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 |
211 | 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: |
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60 return matched_indexes |
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61 |
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62 for row in cursor: |
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63 matched_indexes.append((row[0],row[1])) |
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65 connection.close() | |
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66 return matched_indexes |
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67 |
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68 def testloadPrototypeMatchIndexesFromSqlite(): |
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69 'TODO: write as doctest' |
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70 empty_list = loadPrototypeMatchIndexesFromSqlite("bidon") |
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71 if empty_list == []: |
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72 print "Empty list test Ok" |
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73 |
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74 matches=loadPrototypeMatchIndexesFromSqlite("/home/francois/Unison/École/12Été/CRSNG/TAAM-Experiments/resultats/prototypes-with-matches.sqlite") |
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75 if len(matches) == 66: |
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76 print "Matches test Ok" |
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77 return matches |
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78 |
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79 |
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80 def loadTrajectoriesFromSqlite(filename, trajectoryType, objectNumbers = -1): |
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81 '''Loads nObjects or the indices in objectNumbers from the database |
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82 TODO: load velocities (replace table name 'positions' by 'velocities' |
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83 TODO: load features as well, other ways of averaging trajectories |
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84 ''' |
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85 import sqlite3 |
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86 |
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87 connection = sqlite3.connect(filename) # add test if it open |
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88 cursor = connection.cursor() |
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89 |
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90 if trajectoryType == 'feature': |
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91 if type(objectNumbers) == int: |
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92 if objectNumbers == -1: |
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93 cursor.execute('SELECT * from positions order by trajectory_id, frame_number') |
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94 else: |
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95 cursor.execute('SELECT * from positions where trajectory_id between 0 and {0} order by trajectory_id, frame_number'.format(objectNumbers)) |
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96 elif type(objectNumbers) == list: |
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97 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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98 elif trajectoryType == 'object': |
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99 if type(objectNumbers) == int: |
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100 if objectNumbers == -1: |
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101 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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102 else: |
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103 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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104 elif type(objectNumbers) == list: |
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105 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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106 else: |
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107 print('no trajectory type was chosen') |
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108 |
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109 objId = -1 |
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110 obj = None |
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111 objects = [] |
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112 for row in cursor: |
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113 if row[0] != objId: |
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114 objId = row[0] |
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115 if obj: |
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116 objects.append(obj) |
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117 obj = moving.MovingObject(row[0], timeInterval = moving.TimeInterval(row[1], row[1]), positions = moving.Trajectory([[row[2]],[row[3]]])) |
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118 else: |
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119 obj.timeInterval.last = row[1] |
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120 obj.positions.addPositionXY(row[2],row[3]) |
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121 |
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122 if obj: |
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123 objects.append(obj) |
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124 |
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125 connection.close() |
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126 return objects |
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127 |
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128 def loadTrajectoriesFromNgsimFile(filename, nObjects = -1, sequenceNum = -1): |
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129 '''Reads data from the trajectory data provided by NGSIM project |
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130 and returns the list of Feature objects''' |
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131 objects = [] |
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132 |
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133 input = utils.openCheck(filename) |
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134 if not input: |
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135 import sys |
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136 sys.exit() |
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137 |
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138 def createObject(numbers): |
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139 firstFrameNum = int(numbers[1]) |
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140 # do the geometry and usertype |
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141 |
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142 firstFrameNum = int(numbers[1]) |
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143 lastFrameNum = firstFrameNum+int(numbers[2])-1 |
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144 #time = moving.TimeInterval(firstFrameNum, firstFrameNum+int(numbers[2])-1) |
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145 obj = moving.MovingObject(num = int(numbers[0]), |
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146 timeInterval = moving.TimeInterval(firstFrameNum, lastFrameNum), |
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147 positions = moving.Trajectory([[float(numbers[6])],[float(numbers[7])]]), |
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148 userType = int(numbers[10])) |
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149 obj.userType = int(numbers[10]) |
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150 obj.laneNums = [int(numbers[13])] |
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151 obj.precedingVehicles = [int(numbers[14])] # lead vehicle (before) |
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152 obj.followingVehicles = [int(numbers[15])] # following vehicle (after) |
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153 obj.spaceHeadways = [float(numbers[16])] # feet |
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154 obj.timeHeadways = [float(numbers[17])] # seconds |
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155 obj.curvilinearPositions = moving.Trajectory([[float(numbers[5])],[float(numbers[4])]]) # X is the longitudinal coordinate |
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156 obj.speeds = [float(numbers[11])] |
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157 obj.size = [float(numbers[8]), float(numbers[9])] # 8 lengh, 9 width # TODO: temporary, should use a geometry object |
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158 return obj |
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159 |
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160 numbers = input.readline().strip().split() |
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161 if (len(numbers) > 0): |
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162 obj = createObject(numbers) |
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163 |
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164 for line in input: |
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165 numbers = line.strip().split() |
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166 if obj.num != int(numbers[0]): |
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167 # check and adapt the length to deal with issues in NGSIM data |
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168 if (obj.length() != obj.positions.length()): |
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169 print 'length pb with object %s (%d,%d)' % (obj.num,obj.length(),obj.positions.length()) |
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170 obj.last = obj.getFirstInstant()+obj.positions.length()-1 |
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171 #obj.velocities = utils.computeVelocities(f.positions) # compare norm to speeds ? |
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172 objects.append(obj) |
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173 if (nObjects>0) and (len(objects)>=nObjects): |
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174 break |
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175 obj = createObject(numbers) |
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176 else: |
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177 obj.positions.addPositionXY(float(numbers[6]), float(numbers[7])) |
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178 obj.curvilinearPositions.addPositionXY(float(numbers[5]), float(numbers[4])) |
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179 obj.speeds.append(float(numbers[11])) |
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180 obj.laneNums.append(int(numbers[13])) |
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181 obj.precedingVehicles.append(int(numbers[14])) |
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182 obj.followingVehicles.append(int(numbers[15])) |
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183 obj.spaceHeadways.append(float(numbers[16])) |
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184 obj.timeHeadways.append(float(numbers[17])) |
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185 |
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186 if (obj.size[0] != float(numbers[8])): |
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187 print 'changed length obj %d' % (f.num) |
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188 if (obj.size[1] != float(numbers[9])): |
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189 print 'changed width obj %d' % (f.num) |
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190 |
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191 input.close() |
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192 return objects |
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193 |
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194 def convertNgsimFile(inFile, outFile, append = False, nObjects = -1, sequenceNum = 0): |
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195 '''Reads data from the trajectory data provided by NGSIM project |
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196 and converts to our current format.''' |
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197 if append: |
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198 out = open(outFile,'a') |
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199 else: |
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200 out = open(outFile,'w') |
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201 nObjectsPerType = [0,0,0] |
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202 |
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203 features = loadNgsimFile(inFile, sequenceNum) |
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204 for f in features: |
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205 nObjectsPerType[f.userType-1] += 1 |
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206 f.write(out) |
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207 |
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208 print nObjectsPerType |
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209 |
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210 out.close() |
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211 |
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212 |
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213 |
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214 |
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215 # if __name__ == "__main__": |
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216 # import doctest |
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217 # import unittest |
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218 # suite = doctest.DocFileSuite('tests/ubc_utils.txt') |
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219 # unittest.TextTestRunner().run(suite) |
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220 # #doctest.testmod() |
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221 # #doctest.testfile("example.txt") |